Abstract
The robot motion planning problem has a unique multimodal structure, where the space of feasible configuration consists of intersecting submanifolds. The planning problem of reconfigurable robot leg motions was considered as a multimodal structure composed of intersecting submanifolds in different dimensions. After that, a new multimodal planning algorithm based on PRM was proposed. Simulation results showed that the new algorithm had a shorter running time than PRM in different modes.
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