Cart (Loading....) | Create Account
Close category search window
 

Computation of configuration-space obstacles using the fast Fourier transform

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

1 Author(s)
Kavraki, L.E. ; Robotics Lab., Stanford Univ., CA, USA

This paper presents a new method for computing the configuration-space map of obstacles that is used in motion-planning algorithms. The method derives from the observation that, when the robot is a rigid object that can only translate, the configuration space is a convolution of the workspace and the robot. This convolution is computed with the use of the fast Fourier transform (FFT) algorithm. The method is particularly promising for workspaces with many and/or complicated obstacles, or when the shape of the robot is not simple. It is an inherently parallel method that can significantly benefit from existing experience and hardware on the FFT

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:11 ,  Issue: 3 )

Date of Publication:

Jun 1995

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.