Skip to Main Content Issues dealing with fast, 3-D, collision-
free motion planning are discussed, and a fast path planning
system under development at NBS is described. The components of
a general motion planner are outlined, and some of their
computational aspects are discussed. It is argued that an octree
representation of the obstacles in the world leads to fast path
planning algorithms. The system we are developing uses such an
octree representation. The robot and its swept-volume paths are
approximated by primitive shapes so as to result in fast
collision detection algorithms. The search for a path is
performed in the octree space, and combines hypothesize and
test, hill climbing, and A. Robotics and Automation.
Proceedings. 1986 IEEE International Conference on (Volume:3 )
Date of Conference: Apr 1986