Search-based Path Planning for a High Dimensional Manipulator in Cluttered Environments Using Optimization-based Primitives
Muhammad Suhail Saleem,Raghav Sood,Sho Onodera,Rohit Arora,Hiroyuki Kanazawa,Maxim Likhachev,Muhammad Suhail Saleem,Raghav Sood,Sho Onodera,Rohit Arora,Hiroyuki Kanazawa,Maxim Likhachev
In this work we tackle the path planning problem for a 21-dimensional snake robot-like manipulator, navigating a cluttered gas turbine for the purposes of inspection. Heuristic search based approaches are effective planning strategies for common manipulation domains. However, their performance on high dimensional systems is heavily reliant on the effectiveness of the action space and the heuristic...
