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A hierarchical orthogonal space approach to three-dimensional path planning

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

A methodology for three-dimensional collision-free path planning by which planning is done in the three-dimensional orthogonal two-dimensional projections of a three-dimensional environment is presented, Collision checking is done in each of the three orthogonal two-dimensional subspaces using primitive path segments. A hierarchical-path search method is used to speed up the search process. This approach forms basis for spatial planning in environments where no a priori knowledge is assumed. The three orthogonal two-dimensional projections can be readily obtained from three orthogonal cameras in simple environments.

Published in:

IEEE Journal on Robotics and Automation  (Volume:2 ,  Issue: 1 )