A literature review on path planning of polyhedrons with rolling contact

Lam, N.T.; Howard, Ian; Cui, Lei

doi:10.1109/CRC.2019.00038

Access Status

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Authors

Lam, N.T.

Howard, Ian

Cui, Lei

Date

2019

Type

Conference Paper

Metadata

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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.