NDLI: A novel representation for planning 3-D collision-free paths

Content Provider	IEEE Xplore Digital Library
Author	Bonner, S. Kelley, R.B.
Copyright Year	1971
Abstract	A new scheme for the representation of objects, the successive spherical approximation (SSA), facilitates the rapid planning of collision-free paths in a dynamic, three-dimensional environment. The hierarchical nature of the SSA allows collisions to be determined efficiently while still providing an exact representation of objects. The rapidity with which collisions can be detected, less than one second per environment object per path, makes it possible to use a generate-and-test path-planning strategy driven by human conceptual knowledge to determine collision-free paths in a matter of seconds on a Sun 3/180 computer. A hierarchy of rules, based on the concept of a freespace cell, is used to find heuristically satisfying collision-free paths in a structured environment.<>
Starting Page	1337
Ending Page	1351
Page Count	15
File Size	1306893
File Format	PDF
ISSN	00189472
Volume Number	20
Issue Number	6
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1990-11-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Intelligent robots Humans Application software Payloads Object detection Sun Manipulators Navigation Face detection
Content Type	Text
Resource Type	Article
Subject	Engineering

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