DocumentCode
1300530
Title
A subdivision algorithm in configuration space for findpath with rotation
Author
Brooks, Rodney A. ; Lozano-Pérez, Tomas
Author_Institution
Artificial Intelligence Lab., MIT, Cambridge, MA, USA
Issue
2
fYear
1985
Firstpage
224
Lastpage
233
Abstract
A recursive cellular representation for configuration space is presented along with an algorithm for searching that space for collision-free paths. The details of the algorithm are presented for polygonal obstacles and a moving object with two translational and one rotational degrees of freedom.
Keywords
artificial intelligence; position control; robots; artificial intelligence; collision-free paths; configuration space; findpath; polygonal obstacles; recursive cellular representation; robotics; rotation; subdivision algorithm; Algorithm design and analysis; Cybernetics; Labeling; Planning; Robot kinematics; Strips;
fLanguage
English
Journal_Title
Systems, Man and Cybernetics, IEEE Transactions on
Publisher
ieee
ISSN
0018-9472
Type
jour
DOI
10.1109/TSMC.1985.6313352
Filename
6313352
Link To Document