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Exact robot navigation in geometrically complicated but topologically simple spaces

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2 Author(s)
Romon, E. ; Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA ; Koditschek, D.E.

Navigation functions on forests of stars, geometrically complicated C-spaces (configuration spaces) that are topologically indistinguishable from a simple disc punctured by disjoint smaller discs representing model obstacles, are constructed. For reasons of mathematical tractability, each C-space obstacle is approximated by a Boolean combination of linear and quadratic polynomial inequalities (with sharp corners allowed), and a calculus of implicit representations is used to effectively represent such obstacles. Evidence is provided of the effectiveness of this technology of implicit representations in the form of several simulation studies

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990