Automated path planning

Details Automated path planning Automated path planning

1997-05-05

1999-12-07

Zanelli, Michael J.

Data processing: vehicles, navigation, and relative location

Relative location

Collision avoidance

701 26, 701201, G06F16500, G01C 2100

Patent

active

059998814

ABSTRACT:
This present invention makes use of a method for automatically finds collision-free part removal paths. The system sparsely samples the high-dimensional state space and maps the rest of the space using proximity assumptions (assumptions about states near the samples). The present invention is less complex and faster than previously known methods.

REFERENCES:
patent: 5083256 (1992-01-01), Trovato et al.
patent: 5347459 (1994-09-01), Greenspan et al.
patent: 5502638 (1996-03-01), Takenaka
patent: 5675720 (1997-10-01), Sato et al.
T. Lozano-Perez and M.A. Wesley, "An Algorithm for Planning Collision-Free Paths Among Polyhedral Objects", Comm. of the ACM 22 (10):560-570, Oct. 1979.
J. Barraquand, B. Langlois and J.C. Latombe, "Numerical Potential Field Techniques For Robot Path Planning", IEEE Transactions on Systems, Man, and Cybernetics, 22(2):224-241, 1992.
L. Kavraki, "Randomized Preprocessing of Configuration Space for Fast Path Planning", IEEE Intl. Conf. on Robotics and Automation, 1994.

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