Please use this identifier to cite or link to this item:
http://dspace.mediu.edu.my:8181/xmlui/handle/1721.1/5684| Title: | Spatial Planning: A Configuration Space Approach |
| Keywords: | geometric algorithms collision avoidance robotics |
| Issue Date: | 9-Oct-2013 |
| Description: | This paper presents algorithms for computing constraints on the position of an object due to the presence of obstacles. This problem arises in applications which require choosing how to arrange or move objects among other objects. The basis of the approach presented here is to characterize the position and orientation of the object of interest as a single point in a Configuration Space, in which each coordinate represents a degree of freedom in the position and/or orientation of the object. The configurations forbidden to this object, due to the presence of obstacles, can then be characterized as regions in the Configuration Space. The paper presents algorithms for computing these Configuration Space obstacles when the objects and obstacles are polygons or polyhedra. An approximation technique for high-dimensional Configuration Space obstacles, based on projections of obstacles slices, is described. |
| URI: | http://koha.mediu.edu.my:8181/xmlui/handle/1721 |
| Other Identifiers: | AIM-605 http://hdl.handle.net/1721.1/5684 |
| Appears in Collections: | MIT Items |
Files in This Item:
There are no files associated with this item.
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.