ADVERTISEMENT
ADVERTISEMENT

Articles Alert

Bruce G. Buchanan Department of Computer Science University of Pittsburgh Pittsburgh Path planning for a robot in a cluttered environment involves detecting collisions on paths under consideration. Several methods of representing the parts of space already occupied are currently in use, but they either depend on a stable environment or do not produce satisfactorily "direct" paths. A new hierarchical representation based on a series of approximate shapes of each object is proposed to solve the

Bruce G. Buchanan

Bruce G. Buchanan
Department of Computer Science
University of Pittsburgh
Pittsburgh

Path planning for a robot in a cluttered environment involves detecting collisions on paths under consideration. Several methods of representing the parts of space already occupied are currently in use, but they either depend on a stable environment or do not produce satisfactorily "direct" paths. A new hierarchical representation based on a series of approximate shapes of each object is proposed to solve these problems. Results show significant speedup of a path planner, using this representation.

S. Bonner, R.B. Kelley, "A novel representation for planning 3-D collision-free paths," IEEE Transactions on Systems, Man, and Cybernetics, 20, 1337-51, November/December 1990. (Rensselaer Polytechnic Institute, Troy, N.Y.)

The role of the visual display as an aid to a person's task performance is not well understood. Evidence suggests that users rely on the display more than previous user models assume, for example, by...

Interested in reading more?

Become a Member of

Receive full access to digital editions of The Scientist, as well as TS Digest, feature stories, more than 35 years of archives, and much more!
Already a member?
ADVERTISEMENT