Method and apparatus of free space enumeration for collision avo

Details Method and apparatus of free space enumeration for collision avo Method and apparatus of free space enumeration for collision avo

1989-03-24

1991-09-10

Ruggiero, Joseph

Boots, shoes, and leggings

364461, 364513, G06F 1520

Patent

active

050479164

ABSTRACT:
A method and an apparatus for free space enumeration for motion planning, having general applicability while reducing amounts of information and calculations involved, capable of modifying a path, capable of setting up appropriate configuration space quantization, and capable of adopting appropriate strategy for free space enumeration. The method may include the step of selecting cells only between the initial point and the final point, or selecting cells between the initial point and the final point, using a plurality of strategies for selecting the cells simultaneously, or dividing the configuration space into multiplicity of cells defined in terms of intervals in the degrees of freedom, or determining a collision-free path in the free space joining the initial point and the final point without collision, or modifying the collision-free path.

REFERENCES:
patent: 4578757 (1986-03-01), Stark
patent: 4764873 (1988-08-01), Libby
patent: 4862373 (1989-08-01), Meng
patent: 4888707 (1989-12-01), Shimada
Kondo et al., "Collision Avoidance Using Free Space Enumeration Method Based on Lee's Algorithm", Journal of the Robotics Society Japan, vol. 5, No. 4, pp. 11-20 (1987).
Lozano-Perez, "A Simple Motion-Planning Algorithm for General Robot Manipulators", vol. RA-3, No. 3, IEEE, Journal of Robotics and Automation, 6/87, pp. 224-238.
Hasegawa, "Collision Avoidance Using Characterized Description of Free Space", ICAR, 1985, pp. 69-76.
Kondo et al., "Collision Avoidance Using a Free Space Enumeration Method Based on Grid Expansion", Advanced Robotics, vol. 3, No. 0, pp. 1-17 (1988).

Affiliated with

Also associated with

Rating

Method and apparatus of free space enumeration for collision avo does not yet have a rating. At this time, there are no reviews or comments for this patent.

If you have personal experience with Method and apparatus of free space enumeration for collision avo, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Method and apparatus of free space enumeration for collision avo will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFUS-PAI-O-544953