We present a motion planner for multiple moving objects in two dimensions. The search for collision-free paths is performed in the composite configuration space of all the moving objects to guarantee a solution, and the efficiency of our planner is demonstrated with examples. Our motion planner can be characterized with a hierarchical, multi-resolution search of the configuration space along with a generate-and-test paradigm for solution paths. Because of the high dimensionality of the composite configuration space, our planner is most useful for cases with a small number of moving objects. Some of the potential applications are navigation of several mobile robots, and planning part motions for a multi-handed assembly operation.


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    Titel :

    Motion planning for multiple moving objects


    Beteiligte:
    Y. K. Hwang (Autor:in)

    Erscheinungsdatum :

    1995


    Format / Umfang :

    8 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




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