Spatial Planning: A Configuration Space Approach (1980)
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BibTeX
@MISC{Lozano-Perez80spatialplanning:,
author = {Tomas Lozano-Perez},
title = {Spatial Planning: A Configuration Space Approach},
year = {1980}
}
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Abstract
This paper presents algorithms fi)r computing constraints on the pusiliun of' an object due o the presence of obstacles. This problem arises in applicalion'.g xYhMi require choosing how to arrange or move obje(:[s among other objects. The basis uf the approach presenlcd here is to characterize Ihe positinn and orientation of the-object of interest as a single point in a Coufiguration Space, in which each coordinate represents a degree of fi'eedom in the position. nnd/o' orientation of the object. The configurations forbidden to this object, due to the presence of obstacles, can then be characterized as regions in the Configuration Space. The paper presents algorithms for computing these Configuration Space obstacles when the objects and obstacles are polygons or polyhedra. An approximation technique fi.>r high-dilnensional Configuration Space obstacles, based ou projections of obstacles slices, is described
