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dc.contributor.authorDonald, Bruce R.en_US
dc.date.accessioned2004-10-04T14:54:48Z
dc.date.available2004-10-04T14:54:48Z
dc.date.issued1983-06-01en_US
dc.identifier.otherAIM-736en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/6393
dc.description.abstractGiven a polyhedral environment, a technique is presented for hypothesizing a channel volume through the free space containing a class of successful collision-free paths. A set of geometric constructions between obstacle faces is proposed, and we define a mapping from a field of view analysis to a direct local construction of free space. The algorithm has the control structure of a search which propagates construction of a connected channel towards a goal along a frontier of exterior free faces. Thus a channel volume starts out by surrounding the moving object in the initial configuration and "grows" towards the goal. Finally, we show techniques for analyzing the channel decomposition of free space and suggesting a path.en_US
dc.format.extent7672727 bytes
dc.format.extent6033696 bytes
dc.format.mimetypeapplication/postscript
dc.format.mimetypeapplication/pdf
dc.language.isoen_US
dc.relation.ispartofseriesAIM-736en_US
dc.titleHypothesizing Channels through Free-Space in Solving the Findpath Problemen_US


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