A Subdivision Algorithm in Configuration Space for Findpath with Rotation
A hierarchical representation for configuration space is presented, along with an algorithm for searching that space for collision-free paths. The detail of the algorithm are presented for polygonal obstacles and a moving object with two translational and one rotational degrees of freedom.
Main Authors: | , |
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Language: | en_US |
Published: |
2004
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Subjects: | |
Online Access: | http://hdl.handle.net/1721.1/5665 |
Summary: | A hierarchical representation for configuration space is presented, along with an algorithm for searching that space for collision-free paths. The detail of the algorithm are presented for polygonal obstacles and a moving object with two translational and one rotational degrees of freedom. |
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