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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
Feb 3, 1991

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...

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