On multiple moving objects (Q1102134): Difference between revisions
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Latest revision as of 17:04, 18 June 2024
scientific article
Language | Label | Description | Also known as |
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English | On multiple moving objects |
scientific article |
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On multiple moving objects (English)
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1987
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This paper explores the motion-planning problem for multiple moving objects. The approach taken consists of assigning priorities to the objects, then planning motions one object at a time. For each moving object, the planner constructs a configuration space-time that represents the time-varying constraints imposed on the moving object by the other moving and stationary objects. The planner represents this space-time approximately, using two-dimensional slices. The space-time is then searched for a collision-free path. The paper demonstrates this approach in two domains. One domain consists of translating planar objects; the other domain consists of two-link planar articulated arms.
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robotics
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coordinated motion
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autonomous robots
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collision avoidance
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motion-planning
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configuration space
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