Occlusion-free path planning with a probabilistic roadmap

Matthew A. Baumann, Donna C. Dupuis, Simon Léonard, Elizabeth A. Croft, James J. Little

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

12 Citations (Scopus)


We present a novel algorithm for path planning that avoids occlusions of a visual target for an "eye-in-hand" sensor on an articulated robot arm. We compute paths using a probabilistic roadmap to avoid collisions between the robot and obstacles, while penalizing trajectories that do not maintain line-of-sight. The system determines the space from which line-of-sight is unimpeded to the target (the visible region). We assign penalties to trajectories within the roadmap proportional to the distance the camera travels while outside the visible region. Using Dijkstra's algorithm, we compute paths of minimal occlusion (maximal visibility) through the roadmap. In our experiments, we compare a shortest-distance path to the minimal-occlusion path and discuss the impact of the improved visibility.

Original languageEnglish
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Number of pages6
Publication statusPublished - 1 Dec 2008
Externally publishedYes
EventIEEE/RSJ International Conference on Intelligent Robots and Systems 2008 - Nice, France
Duration: 22 Sep 200826 Sep 2008
https://ieeexplore.ieee.org/xpl/conhome/4637508/proceeding (Proceedings)


ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems 2008
Abbreviated titleIROS 2008
Internet address

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