By Topic

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

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

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