Computing the topology of configuration space
Date
1992
Authors
Maciejewski, Anthony A., author
Fox, John J., author
IEEE, publisher
Journal Title
Journal ISSN
Volume Title
Abstract
In this work, an algorithm is developed for generating the connectivity graph for a class of articulated manipulators. The algorithm is based upon the ability to determine whether two distinct obstacles in configuration space intersect. The efficiency of the test which is developed lies in the ability to determine the intersection relation by evaluating the curves which describe the configuration space obstacles at only a small number of points.
Description
Rights Access
Subject
search problems
manipulators
path planning
computational complexity
topology