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

E. K. Wong, K. S. Fu

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    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 sub-spaces 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.

    Original languageEnglish (US)
    Title of host publicationProceedings - 1985 IEEE International Conference on Robotics and Automation, ICRA 1985
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages506-511
    Number of pages6
    ISBN (Print)0818606150
    DOIs
    StatePublished - 1985
    Event2nd IEEE International Conference on Robotics and Automation, ICRA 1985 - St. Louis, United States
    Duration: Mar 25 1985Mar 28 1985

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation
    ISSN (Print)1050-4729

    Other

    Other2nd IEEE International Conference on Robotics and Automation, ICRA 1985
    CountryUnited States
    CitySt. Louis
    Period3/25/853/28/85

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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  • Cite this

    Wong, E. K., & Fu, K. S. (1985). A hierarchical-orthogonal-space approach to collision-free path planning. In Proceedings - 1985 IEEE International Conference on Robotics and Automation, ICRA 1985 (pp. 506-511). [1087273] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOT.1985.1087273