A Motion Planning Algorithm in a Figure Eight Track

Authors

  • Cristian Jardon Wilbur Wright College
  • Brian Sheppard Harold Washington College
  • Veet Zaveri Wilbur Wright College

DOI:

https://doi.org/10.46787/pump.v6i0.3559

Keywords:

topological robotics; motion planning; topological complexity

Abstract

We design a motion planning algorithm to coordinate the movements of two robots along a figure eight track, in such a way that no collisions occur. We use a topological approach to robot motion planning that relates instabilities in motion planning algorithms to topological features of configuration spaces. The topological complexity of a configuration space is an invariant that measures the complexity of motion planning algorithms. We show that the topological complexity of our problem is 3 and construct an explicit algorithm with three continuous instructions

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Published

2023-06-08

How to Cite

Jardon, C., Sheppard, B. ., & Zaveri, V. (2023). A Motion Planning Algorithm in a Figure Eight Track. The PUMP Journal of Undergraduate Research, 6, 224–249. https://doi.org/10.46787/pump.v6i0.3559