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
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;
Journal_Title :
Systems, Man and Cybernetics, IEEE Transactions on
DOI :
10.1109/TSMC.1985.6313352
