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Fast, Three-Dimensional, Collision-Free Motion Planning

Published

Author(s)

Martin Herman

Abstract

Issues dealing with fast, 3-D, collision-free motion planning are discussed, and a fast path planning system under development at NBS is described. The components of a general motion planner are outlined, and some of their computational aspects are discussed. It is argued that an octree representation of the obstacles in the world leads to fast path planning algorithms. The system we are developing uses such an octree representation. The robot and its swept-volume paths are approximated by primitive shapes so as to result in fast collision detection algorithms. The search for a path is performed in the octree space, and combines hypothesize and test, hill climbing, and A*.
Proceedings Title
Proceedings of the IEEE International Conference on Robotics and Automation
Conference Dates
April 1, 1986
Conference Location
San Francisco, CA
Conference Title
IEEE International Conference on Robotics and Automation

Keywords

Image Processing, Octrees

Citation

Herman, M. (1986), Fast, Three-Dimensional, Collision-Free Motion Planning, Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820182 (Accessed February 20, 2024)
Created April 10, 1986, Updated February 17, 2017