A Subdivision Algorithm in Configuration Space for Findpath with Rotation.

Abstract

In this paper the authors present an algorithm for finding collision-free paths for a rigid polygonal object moving through space that is cluttered with obstacle polygons. The paths can include rotations of the object. The algorithm will find a path from a given initial position and orientation to a goal position and orientation if such a path exists, subject only to a user-specified resolution limit on displacements. The problem addressed here is an instance of the problem known as the findpath or mover's problem in robotics. The problem arises when planning the motion of a robot manipulator or mobile robot in an environment with known obstacles.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1982
Accession Number
ADA130565

Entities

People

  • Rodney A. Brooks
  • Tomas Lozano-Pérez

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Air Platforms
  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Algorithms
  • Artificial Intelligence
  • Boundaries
  • Cells
  • Collisions
  • Computations
  • Contracts
  • Coordinate Systems
  • Databases
  • Efficiency
  • Inequalities
  • Massachusetts
  • Military Research
  • Rotation
  • Three Dimensional
  • Two Dimensional

Fields of Study

  • Computer science

Readers

  • Finite Element Method (FEM) for solving Partial Differential Equations (PDEs)
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Space
  • Space - Space Objects
  • Space - Spacecraft Maneuvers