A Subdivision Algorithm in Configuration Space for Findpath with Rotation
Author(s)Brooks, Rodney A.; Lozano-Perez, Tomas
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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.
configuration space, find-path, collision avoidance, robotics