Computation of configuration-space obstacles using the fast Fourier transform
LE Kavraki - IEEE Transactions on Robotics and Automation, 1995 - ieeexplore.ieee.org
This paper presents a new method for computing the configuration-space map of obstacles
that is used in motion-planning algorithms. The method derives from the observation that,
when the robot is a rigid object that can only translate, the configuration space is a
convolution of the workspace and the robot. This convolution is computed with the use of the
fast Fourier transform (FFT) algorithm. The method is particularly promising for workspaces
with many and/or complicated obstacles, or when the shape of the robot is not simple. It is an …
that is used in motion-planning algorithms. The method derives from the observation that,
when the robot is a rigid object that can only translate, the configuration space is a
convolution of the workspace and the robot. This convolution is computed with the use of the
fast Fourier transform (FFT) algorithm. The method is particularly promising for workspaces
with many and/or complicated obstacles, or when the shape of the robot is not simple. It is an …
Computation of configuration-space obstacles using the fast fourier transform
L Kavraki - … IEEE International Conference on Robotics and …, 1993 - ieeexplore.ieee.org
A method is proposed for computing the configuration-space map of obstacles. The map is
used in motion-planning algorithms. The method derives from the observation that, when the
robot is a rigid object that can only translate, the configuration space is a convolution of the
workspace and the robot. It makes use of the fast Fourier transform (FFT) algorithm to
compute this convolution. The method is particularly promising for workspaces with many
and/or complicated obstacles, or when the shape of the robot is not simple. It is an inherently …
used in motion-planning algorithms. The method derives from the observation that, when the
robot is a rigid object that can only translate, the configuration space is a convolution of the
workspace and the robot. It makes use of the fast Fourier transform (FFT) algorithm to
compute this convolution. The method is particularly promising for workspaces with many
and/or complicated obstacles, or when the shape of the robot is not simple. It is an inherently …
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