Yonrith, Phayuth (Chonnam National University), Hong, Ayoung (Chonnam National University)

Robot Path Planning in Toroidal Configuration Spaces with Joint Limits Using Alternative Goal Configurations

Scheduled for presentation during the Regular Session "Special Topics in Robotic Systems" (WeCT5), Wednesday, July 16, 2025, 17:10−17:30, Room 109

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on July 16, 2025

Abstract

The sampling-based algorithm, which is one of the most popular path planning methods for robotic manipulators, often simplifies the robot's configuration space(C-space) into a Euclidean representation. However, this simplification fails to capture the toroidal structure of the robot’s true C-space, leading to unnecessarily long paths. To better reflect the actual geometry of the C-space, its toroidal shape must be considered. In this paper, to address the challenges posed by physical joint limits, we propose an extended configuration space representation that incorporates alternative goal configuration planning and employs a geodesic distance metric. The proposed approaches are evaluated in a simulated environment.