Spatial Planning: A Configuration Space Approach
This paper presents algorithms for computing constraints on the position of an object due to the presence of obstacles. This problem arises in applications which require choosing how to arrange or move objects among other objects. The basis of the approach presented here is to characterize the...
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| Language: | en_US |
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2004
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| Online Access: | http://hdl.handle.net/1721.1/5684 |
| _version_ | 1826209881707773952 |
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| author | Lozano-Perez, Tomas |
| author_facet | Lozano-Perez, Tomas |
| author_sort | Lozano-Perez, Tomas |
| collection | MIT |
| description | This paper presents algorithms for computing constraints on the position of an object due to the presence of obstacles. This problem arises in applications which require choosing how to arrange or move objects among other objects. The basis of the approach presented here is to characterize the position and orientation of the object of interest as a single point in a Configuration Space, in which each coordinate represents a degree of freedom in the position and/or orientation of the object. The configurations forbidden to this object, due to the presence of obstacles, can then be characterized as regions in the Configuration Space. The paper presents algorithms for computing these Configuration Space obstacles when the objects and obstacles are polygons or polyhedra. An approximation technique for high-dimensional Configuration Space obstacles, based on projections of obstacles slices, is described. |
| first_indexed | 2024-09-23T14:33:50Z |
| id | mit-1721.1/5684 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T14:33:50Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/56842019-04-11T04:45:28Z Spatial Planning: A Configuration Space Approach Lozano-Perez, Tomas geometric algorithms collision avoidance robotics This paper presents algorithms for computing constraints on the position of an object due to the presence of obstacles. This problem arises in applications which require choosing how to arrange or move objects among other objects. The basis of the approach presented here is to characterize the position and orientation of the object of interest as a single point in a Configuration Space, in which each coordinate represents a degree of freedom in the position and/or orientation of the object. The configurations forbidden to this object, due to the presence of obstacles, can then be characterized as regions in the Configuration Space. The paper presents algorithms for computing these Configuration Space obstacles when the objects and obstacles are polygons or polyhedra. An approximation technique for high-dimensional Configuration Space obstacles, based on projections of obstacles slices, is described. 2004-10-01T20:30:59Z 2004-10-01T20:30:59Z 1980-12-01 AIM-605 http://hdl.handle.net/1721.1/5684 en_US AIM-605 37 p. 9867219 bytes 7242036 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | geometric algorithms collision avoidance robotics Lozano-Perez, Tomas Spatial Planning: A Configuration Space Approach |
| title | Spatial Planning: A Configuration Space Approach |
| title_full | Spatial Planning: A Configuration Space Approach |
| title_fullStr | Spatial Planning: A Configuration Space Approach |
| title_full_unstemmed | Spatial Planning: A Configuration Space Approach |
| title_short | Spatial Planning: A Configuration Space Approach |
| title_sort | spatial planning a configuration space approach |
| topic | geometric algorithms collision avoidance robotics |
| url | http://hdl.handle.net/1721.1/5684 |
| work_keys_str_mv | AT lozanopereztomas spatialplanningaconfigurationspaceapproach |