Abstract
We present a novel algorithm for
motion
planning of a deformable robot in a static environment. Given the
initial and final configuration of the robot, our algorithm computes an
approximate path using the probabilistic roadmap method. We use
"constraint-based planning" to simulate robot deformation and make
appropriate path adjustments and corrections to compute a
collision-free path. Our algorithm takes into account geometric
constraints like non-penetration and physical constraints like volume
preservation. We highlight the performance of our planner on different
scenarios of varying complexity.
