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    A literature review on path planning of polyhedrons with rolling contact

    Access Status
    Fulltext not available
    Authors
    Lam, N.T.
    Howard, Ian
    Cui, Lei
    Date
    2019
    Type
    Conference Paper
    
    Metadata
    Show full item record
    Citation
    Lam, N.T. and Howard, I. and Cui, L. 2019. A literature review on path planning of polyhedrons with rolling contact, in Proceedings of the 4th International Conference on Control, Robotics and Cybernetics (CRC), Sep 27-30 2019. Tokyo, Japan: IEEE.
    Source Title
    Proceedings - 2019 4th International Conference on Control, Robotics and Cybernetics, CRC 2019
    DOI
    10.1109/CRC.2019.00038
    ISBN
    9781728146201
    Faculty
    Faculty of Science and Engineering
    School
    School of Civil and Mechanical Engineering
    URI
    http://hdl.handle.net/20.500.11937/80593
    Collection
    • Curtin Research Publications
    Abstract

    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.

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