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