Hypothesizing Channels through Free-Space in Solving the Findpath Problem

dc.creator	Donald, Bruce R.
dc.date	2004-10-04T14:54:48Z
dc.date	2004-10-04T14:54:48Z
dc.date	1983-06-01
dc.date.accessioned	2013-10-09T02:45:13Z
dc.date.available	2013-10-09T02:45:13Z
dc.date.issued	2013-10-09
dc.identifier	AIM-736
dc.identifier	http://hdl.handle.net/1721.1/6393
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721
dc.description	Given a polyhedral environment, a technique is presented for hypothesizing a channel volume through the free space containing a class of successful collision-free paths. A set of geometric constructions between obstacle faces is proposed, and we define a mapping from a field of view analysis to a direct local construction of free space. The algorithm has the control structure of a search which propagates construction of a connected channel towards a goal along a frontier of exterior free faces. Thus a channel volume starts out by surrounding the moving object in the initial configuration and "grows" towards the goal. Finally, we show techniques for analyzing the channel decomposition of free space and suggesting a path.
dc.format	7672727 bytes
dc.format	6033696 bytes
dc.format	application/postscript
dc.format	application/pdf
dc.language	en_US
dc.relation	AIM-736
dc.title	Hypothesizing Channels through Free-Space in Solving the Findpath Problem

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