Presents a variant of a probabilistic approach to motion planning. The objective is to face large, complex industrial environments for maintenance purpose. The contribution is based on a structuring of the workspace into boxes that limits the size of the graph to be searched. The algorithm was integrated in a commercial CAD system and real-size experiments are presented.
['C. Van Geem', 'Thierry Siméon', 'J.-P. Laumond', 'J.-L. Bouchet', 'J.F. Rit']
Mobility analysis for feasibility studies in CAD models of industrial environments