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Spatial Planning: A Configuration Space Approach
February 1983 (vol. 32 no. 2)
pp. 108-120
| ASCII Text | x | ||
| T. Lozano-Perez, "Spatial Planning: A Configuration Space Approach," IEEE Transactions on Computers, vol. 32, no. 2, pp. 108-120, February, 1983. | |||
| BibTex | x | ||
| @article{ 10.1109/TC.1983.1676196, author = {T. Lozano-Perez}, title = {Spatial Planning: A Configuration Space Approach}, journal ={IEEE Transactions on Computers}, volume = {32}, number = {2}, issn = {0018-9340}, year = {1983}, pages = {108-120}, doi = {http://doi.ieeecomputersociety.org/10.1109/TC.1983.1676196}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, } | |||
| RefWorks Procite/RefMan/Endnote | x | ||
| TY - JOUR JO - IEEE Transactions on Computers TI - Spatial Planning: A Configuration Space Approach IS - 2 SN - 0018-9340 SP108 EP120 EPD - 108-120 A1 - T. Lozano-Perez, PY - 1983 KW - robotics KW - Computational geometry KW - obstacle avoidance VL - 32 JA - IEEE Transactions on Computers ER - | |||
This paper presents algorithms for computing constraints on the position of an object due to the presence of ther objects. This problem arises in applications that require choosing how to arrange or how to move objects without collisions. The approach presented here is based on characterizing the position and orientation of an object as a single point in a configuration space, in which each coordinate represents a degree of freedom in the position or orientation of the object. The configurations forbidden to this object, due to the presence of other objects, can then be characterized as regions in the configuration space, called configuration space obstacles. The paper presents algorithms for computing these configuration space obstacles when the objects are polygons or polyhedra.
Index Terms:
robotics, Computational geometry, obstacle avoidance
Citation:
T. Lozano-Perez, "Spatial Planning: A Configuration Space Approach," IEEE Transactions on Computers, vol. 32, no. 2, pp. 108-120, Feb. 1983, doi:10.1109/TC.1983.1676196
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