Abstract:
This paper will present a new approach to the 2D findpath problem for robots which have 3 degrees of freedom of movement (3DOF). This approach is based upon a new extension to distance transform planning, called the path transform. Path transforms have the desirable potential fields property of taking into account clearance from obstacles without suffering the problem of local minima. Since path transforms guide the search for a 3DOF path where solution paths are likely to lie, the computational burden of the new approach is low compared with previously reported results. The low computational burden is also due to efficient collision detection. A new heirarchical collision checking based on distance space bubbles is presented. The new approach to findpath is guaranteed to find a solution path if it exists. Computer simulation results of solving the findpath problem in non-trivial environments are presented. 1.
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