A subdivision algorithm in configuration space for findpath with rotation

1 March 1985

journal article
Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Systems, Man, and Cybernetics

Vol. SMC-15 (2) , 224-233
https://doi.org/10.1109/tsmc.1985.6313352

Abstract

A recursive cellular representation for configuration space is presented along with an algorithm for searching that space for collision-free paths. The details of the algorithm are presented for polygonal obstacles and a moving object with two translational and one rotational degrees of freedom.

Keywords

STRIPS
CYBERNETICS
ROBOT KINEMATICS
ALGORITHM DESIGN AND ANALYSIS
PLANNING
LABELING