Path planning and the geometry of joint space obstacles
W Meyer, P Benedict - Proceedings. 1988 IEEE International …, 1988 - ieeexplore.ieee.org
W Meyer, P Benedict
Proceedings. 1988 IEEE International Conference on Robotics and …, 1988•ieeexplore.ieee.orgThe utilization of geometric characteristics of configuration-space obstacle to do path
planning is considered. Specifically, for a two-link arm it is shown how and when to select
intermediate goals for path planning. An implementation of a path planner based on these
ideas is sketched. However, many path planners, especially ones designed for parallel
machines, can make use of computed intermediate goals.<>
planning is considered. Specifically, for a two-link arm it is shown how and when to select
intermediate goals for path planning. An implementation of a path planner based on these
ideas is sketched. However, many path planners, especially ones designed for parallel
machines, can make use of computed intermediate goals.<>
The utilization of geometric characteristics of configuration-space obstacle to do path planning is considered. Specifically, for a two-link arm it is shown how and when to select intermediate goals for path planning. An implementation of a path planner based on these ideas is sketched. However, many path planners, especially ones designed for parallel machines, can make use of computed intermediate goals.< >
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