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A hierarchical-orthogonal-space approach to collision-free path planning

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2 Author(s)
Wong, E. ; Purdue University W. Lafayette, IN ; Fu, K.

We present a methodology for 3-D collision-free path planning in which planning is done in the 3-orthogonal 2-D projections of a 3-D environment. Suboptimal path searching is done in each of the 3 orthogonal 2-D subspaces using primitive path segments. A hierarchical path searching method is introduced to speed up the search process. This approach lends applications to spatial planning in environments where no a priori knowledge is assumed. The three orthogonal 2-D projections can be readily obtained from 3 orthogonal cameras in simple environments.

Published in:

Robotics and Automation. Proceedings. 1985 IEEE International Conference on  (Volume:2 )

Date of Conference:

Mar 1985

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