论文信息 - A subdivision algorithm in configuration space for findpath with rotation

A subdivision algorithm in configuration space for findpath with rotation

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.

Rodney A. Brooks | Tomás Lozano-Pérez | Tomas Lozano-Perez | R. Brooks

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