A hierarchical representation for configuration space is presented, along with an algorithm for searching that space for collision-free paths. The detail of the algorithm are presented for polygonal obstacles and a moving object with two translational and one rotational degrees of freedom.
| Identifer | oai:union.ndltd.org:MIT/oai:dspace.mit.edu:1721.1/5665 |
| Date | 01 December 1982 |
| Creators | Brooks, Rodney A., Lozano-Perez, Tomas |
| Source Sets | M.I.T. Theses and Dissertation |
| Language | en_US |
| Detected Language | English |
| Format | 41 p., 11067293 bytes, 1691712 bytes, application/postscript, application/pdf |
| Relation | AIM-684 |
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