Decomposition-based motion planning: a framework for real-time motion planning in high-dimensional configuration spaces

Research in motion planning has been striving to develop faster planning algorithms in order to be able to address a wider range of applications. In this paper a novel real-time motion planning framework, called decomposition-based motion planning, is proposed. It is particularly well suited for planning problems that arise in service and field robotics. It decomposes the original planning problem into simpler sub-problems, whose successive solution empirically results in a large reduction of the overall complexity. A particular implementation of decomposition-based planning is proposed. Experiments with an eleven degree-of-freedom mobile manipulator are presented.