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Spatial Planning: A Configuration Space Approach

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Book cover Autonomous Robot Vehicles

Abstract

This paper presents algorithms for computing constraints on the position of an object due to the presence of other objects. This problem arises in applications that require choosing how to arrange or how to move objects without collisions. The approach presented here is based on characterizing the position and orientation of an object as a single point in a configuration space, in which each coordinate represents a degree of freedom in the position or orientation of the object. The configurations forbidden to this object, due to the presence of other objects, can then be characterized as regions in the configuration space, called configuration space obstacles. The paper presents algorithms for computing these configuration space obstacles when the objects are polygons or polyhedra.

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Authors
  1. Tomás Lozano-Pérez
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Editors and Affiliations

  1. NEC Research Institute, 08540, Princeton, NJ, USA

    Ingemar J. Cox

  2. AT&T Bell Laboratories, 07974, Murray Hill, NJ, USA

    Gordon T. Wilfong

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© 1990 AT&T

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Lozano-Pérez, T. (1990). Spatial Planning: A Configuration Space Approach. In: Cox, I.J., Wilfong, G.T. (eds) Autonomous Robot Vehicles. Springer, New York, NY. https://doi.org/10.1007/978-1-4613-8997-2_20

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  • DOI: https://doi.org/10.1007/978-1-4613-8997-2_20

  • Publisher Name: Springer, New York, NY

  • Print ISBN: 978-1-4613-8999-6

  • Online ISBN: 978-1-4613-8997-2

  • eBook Packages: Springer Book Archive

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