Motion Planning with Six Degrees of Freedom.
Abstract
The motion planning problem is of central importance to the fields of robotics, spatial planning, and automated design. In robotics we are interested in the automatic synthesis of robot motions, given high-level specifications of tasks and geometric models of the robot and obstacles. The Mover's problem is to find a continuous, collision-free path for a moving object through an environment containing obstacles. This thesis describes the first known implementation of a complete algorithm (at a given resolution) for the full six degree of freedom Movers' problem. The algorithm transforms the six degree of freedom planning problem into a point navigation problem in a six-dimensional configuration space (called C-Space). The C-Space obstacles, which characterize the physically unachievable configurations, are directly represented by six-dimensional manifolds whose boundaries are five dimensional C-surfaces. Implementing the point navigation operators requires solving fundamental representational and algorithmic questions: we will derive new structural properties of the C-space constraints and show how to construct and represent C-surfaces and their intersection manifolds. Originator-Supplied keywords include: Motion planning, Configuration space, Generalized Voroni diagram, Piano mover's problem, Computational geometry, Path planning, Robotics, Spatial reasoning, Geometric modelling, Obstacle avoidance, Geometric planning, Collision avoidance.
Document Details
- Document Type
- Technical Report
- Publication Date
- May 01, 1984
- Accession Number
- ADA150312
Entities
People
- B. R. Donald
Organizations
- Massachusetts Institute of Technology