Accession Number : ADA130565

Title :   A Subdivision Algorithm in Configuration Space for Findpath with Rotation.

Descriptive Note : Memorandum rept.,

Corporate Author : MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB

Personal Author(s) : Brooks,Rodney A ; Lozano-Perez,Tomas

PDF Url : ADA130565

Report Date : Dec 1982

Pagination or Media Count : 42

Abstract : In this paper the authors present an algorithm for finding collision-free paths for a rigid polygonal object moving through space that is cluttered with obstacle polygons. The paths can include rotations of the object. The algorithm will find a path from a given initial position and orientation to a goal position and orientation if such a path exists, subject only to a user-specified resolution limit on displacements. The problem addressed here is an instance of the problem known as the findpath or mover's problem in robotics. The problem arises when planning the motion of a robot manipulator or mobile robot in an environment with known obstacles.

Descriptors :   *Algorithms, *Paths, *Robotics, *Collision avoidance, Rigidity, Polygons, Space(Room), Clutter, Rotation, Manipulators, Mobile, Robots, Degrees of freedom, Motion, Configurations

Subject Categories : Theoretical Mathematics

Distribution Statement : APPROVED FOR PUBLIC RELEASE