Solving the Find-Path Problem by Representing Free Space as Generalized Cones.

Abstract

Free space is represented as a union of (possibly overlapping) generalized comes. An algorithm is presented which efficiently finds good collision free paths for convex polygonal bodies through space littered with obstacle polygons. The paths are good in the sense that the distance of closest approach to an obstacle over the path is usually far from minimal over the class of topologically equivalent collision free paths. The algorithm is based on characterizing the volume swept by a body as it is translated and rotated as a generalized cone and determining under what conditions one generalized cone is a subset of another. (Author)

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Document Details

Document Type
Technical Report
Publication Date
May 01, 1982
Accession Number
ADA115047

Entities

People

  • Rodney A. Brooks

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Artificial Intelligence
  • Collision Avoidance
  • Collisions
  • Computer Vision
  • Contracts
  • Coordinate Systems
  • Intervals
  • Massachusetts
  • Military Research
  • Orientation (Direction)
  • Polygons
  • Robotics
  • Robots
  • Systems Science
  • Three Dimensional
  • Two Dimensional

Readers

  • Applied Combinatorial Optimization and Logic Circuit Design.
  • Calculus or Mathematical Analysis
  • Fluid Dynamics.

Technology Areas

  • Space
  • Space - Spacecraft Maneuvers