Abstract
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 one generalized cone is a subset of another.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Russell V. Benson, Euclidean Geometry and Convexity. New York: McGraw-Hill, 1966.
Thomas O. Binford, “Visual perception by computer,” presented at IEEE Systems, Science, and Cybernetics Conf., Miami, FL, Dec. 1971.
Rodney A. Brooks and Tomás Lozano-Pérez, “A subdivision algorithm in configuration space for findpath with rotation,” M.I.T. Tech Rep. AIM-684, in preparation, 1982.
R. L. (Scot) Drysdale, “Generalized Voronoi diagrams and geometric searching,” Stanford, CS Rep. STAN-CS-79-705, Stanford, CA, Jan. 1979.
Tomás Lozano-Pérez, Automatic planning of manipulator transfer movements, IEEE Trans. Syst., Man, Cybern., vol. SMC-11, pp. 681–698, 1981.
Hans P. Moravec, “Obstacle avoidance and navigation in the real world by a seeing robot rover,” Stanford, Univ. Tech Rep., AIM-340, Sep. 1980.
Nils J. Nilsson, Problem-Solving Methods in Artificial Intelligence. New York: McGraw-Hill, 1971.
Shriram M. Udupa, “Collision detection and avoidance in computer controlled manipulators,” Proc. IJCAI-5, MIT, Cambridge, MA, Aug. 1977, pp. 737–748.
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1990 AT&T
About this chapter
Cite this chapter
Brooks, R.A. (1990). Solving the Find-Path Problem by Good Representation of Free Space. In: Cox, I.J., Wilfong, G.T. (eds) Autonomous Robot Vehicles. Springer, New York, NY. https://doi.org/10.1007/978-1-4613-8997-2_22
Download citation
DOI: https://doi.org/10.1007/978-1-4613-8997-2_22
Publisher Name: Springer, New York, NY
Print ISBN: 978-1-4613-8999-6
Online ISBN: 978-1-4613-8997-2
eBook Packages: Springer Book Archive