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Configuration Space of Moving Object

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Configuration space methods are commonly used in motion planning algorithms. Algorithms for defining the configuration space of moving objects use Minkowski sum, but it is applicable only for convex objects. If the obstacle is non-convex, triangle subdivision to convex objects must be performed. This complicates the algorithms for object movement planning. In the present paper is presented an algorithm for defining configuration space which is applicable for non-convex objects.

Author(s): Yankov K.,

Language: English
Commentary: 1552727
Tags: Автоматизация;Робототехнические системы (РТС);Промышленная робототехника