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

dc.creator	Brooks, Rodney A.
dc.date	2004-10-01T20:18:52Z
dc.date	2004-10-01T20:18:52Z
dc.date	1982-05-01
dc.date.accessioned	2013-10-09T02:40:45Z
dc.date.available	2013-10-09T02:40:45Z
dc.date.issued	2013-10-09
dc.identifier	AIM-674
dc.identifier	http://hdl.handle.net/1721.1/5670
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721
dc.description	Free space is represented as a union of (possibly overlapping) generalized cones. 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 generalized cone is a subset of another.
dc.format	21 p.
dc.format	5064411 bytes
dc.format	723424 bytes
dc.format	application/postscript
dc.format	application/pdf
dc.language	en_US
dc.relation	AIM-674
dc.subject	robotics
dc.subject	find-path
dc.subject	collision avoidance
dc.subject	path planning
dc.subject	sgeneralized cones
dc.title	Solving the Find-Path Problem by Representing Free Space as Generalized Cones

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