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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

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Subject

search problems
manipulators
path planning
computational complexity
topology

Citation

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