A novel representation for planning 3-D collision-free paths

A new scheme for the representation of objects, the successive spherical approximation (SSA), facilitates the rapid planning of collision-free paths in a dynamic, three-dimensional environment. The hierarchical nature of the SSA allows collisions to be determined efficiently while still providing an exact representation of objects. The rapidity with which collisions can be detected, less than one second per environment object per path, makes it possible to use a generate-and-test path-planning strategy driven by human conceptual knowledge to determine collision-free paths in a matter of seconds on a Sun 3/180 computer. A hierarchy of rules, based on the concept of a freespace cell, is used to find heuristically satisfying collision-free paths in a structured environment. >

[1]  E. E. Pickett,et al.  Geometric Reasoning In Task Planning , 1985, Other Conferences.

[2]  Tomás Lozano-Pérez,et al.  Automatic Planning of Manipulator Transfer Movements , 1981, IEEE Transactions on Systems, Man, and Cybernetics.

[3]  Robert B. Kelley,et al.  Planning 3-D collision-free paths using spheres , 1989 .

[4]  L. Gouzenes.  Strategies for Solving Collision-free Trajectories Problems for Mobile and Manipulator Robots , 1984 .

[5]  Bernard Faverjon,et al.  Obstacle avoidance using an octree in the configuration space of a manipulator , 1984, ICRA.

[6]  Tsutomu Hasegawa,et al.  Collision avoidance: divide-and-conquer approach by space characterization and intermediate goals , 1988, IEEE Trans. Syst. Man Cybern..

[7]  Vladimir J. Lumelsky,et al.  Continuous motion planning in unknown environment for a 3D cartesian robot arm , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[8]  Oussama Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Autonomous Robot Vehicles.

[9]  R. Kelley,et al.  A representation scheme for rapid 3D collision detection , 1988, Proceedings IEEE International Symposium on Intelligent Control 1988.

[10]  R. B. Kelley,et al.  Planning 3-D collision-free paths , 1989, Proceedings. IEEE International Symposium on Intelligent Control 1989.

[11]  Vincent Hayward,et al.  Fast collision detection scheme by recursive decomposition of a manipulator workspace , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.