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French Workshop on Geometry and Robotics

GeoRob 1988: Geometry and Robotics pp 116–132Cite as

Planning collision free trajectories by a configuration space approach

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Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 391))

Abstract

This paper addresses the motion planning problem. We present a simple and efficient algorithm for generating a approximate representation of the free Configuration Space for a robot moving in a workspace with obstacles. The algorithms presented in this paper have been implemented and can deal with all robots made of revolute or prismatic joints. We present an exemple of collision-free trajectories computed by the system for a manipulator with 4 degrees of freedom.

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References

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Author information

Authors and Affiliations

  1. Groupe Robotique et Intelligence Artificielle, LAAS-CNRS, 7, Avenue du Colonel Roche, 31077, Toulouse cedex

    Thierry Siméon

Authors
  1. Thierry Siméon
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Editor information

J. -D. Boissonnat J. -P. Laumond

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© 1989 Springer-Verlag Berlin Heidelberg

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Siméon, T. (1989). Planning collision free trajectories by a configuration space approach. In: Boissonnat, J.D., Laumond, J.P. (eds) Geometry and Robotics. GeoRob 1988. Lecture Notes in Computer Science, vol 391. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-51683-2_27

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  • DOI: https://doi.org/10.1007/3-540-51683-2_27

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-51683-5

  • Online ISBN: 978-3-540-46748-9

  • eBook Packages: Springer Book Archive

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