A Literature Review on Path Planning of Polyhedrons with Rolling Contact

摘要

Path planning of polyhedrons by rolling on edges includes arbitrary relocation, obstacle avoidance and goal achievement. These tasks have various applications in robotics fields such as autonomous vehicles, navigation and robotic surgery. This paper reviewed path planning approaches applied to rolling contact with different types of polyhedral parts. The advantages and disadvantages of some mainstream algorithms were analyzed and compared. We further pointed out the directions of future research on rolling polyhedron path planning in discrete space.