Path planning and the topology of configuration space
| dc.contributor.author | Maciejewski, Anthony A., author | |
| dc.contributor.author | Fox, John J., author | |
| dc.contributor.author | IEEE, publisher | |
| dc.date.accessioned | 2007-01-03T08:09:30Z | |
| dc.date.available | 2007-01-03T08:09:30Z | |
| dc.date.issued | 1994 | |
| dc.description.abstract | This work considers the path planning problem for planar revolute manipulators operating in a workspace of polygonal obstacles. This problem is solved by determining the topological characteristics of obstacles in configuration space, thereby determining where feasible paths can be found. A collision-free path is then calculated by using the mathematical description of the boundaries of only those configuration space obstacles with which collisions are possible. The key to this technique is a simple test for determining whether two disjoint obstacles are connected in configuration space. This test allows the path planner to restrict its calculations to regions in which collision-free paths are guaranteed a priori, thus avoiding unnecessary computations and resulting in an efficient implementation. Typical timing results for environments consisting of four polyhedral obstacles comprising a total of 27 vertices are of the order of 22 ms on a SPARC-IPC workstation. | |
| dc.format.medium | born digital | |
| dc.format.medium | articles | |
| dc.identifier.bibliographicCitation | Maciejewski, Anthony A. and John J. Fox, Path Planning and the Topology of Configuration Space, IEEE Transactions on Robotics and Automation 9, no. 4 (August 1993): 444-456. | |
| dc.identifier.uri | http://hdl.handle.net/10217/67344 | |
| dc.language | English | |
| dc.language.iso | eng | |
| dc.publisher | Colorado State University. Libraries | |
| dc.relation.ispartof | Faculty Publications | |
| dc.rights | ©1994 IEEE. | |
| dc.rights | Copyright and other restrictions may apply. User is responsible for compliance with all applicable laws. For information about copyright law, please see https://libguides.colostate.edu/copyright. | |
| dc.subject | manipulators | |
| dc.subject | path planning | |
| dc.subject | topology | |
| dc.title | Path planning and the topology of configuration space | |
| dc.type | Text |
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