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

E. K. Wong; K. S. Fu

doi:10.1109/ROBOT.1985.1087273

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

E. K. Wong, K. S. Fu

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	Proceedings - 1985 IEEE International Conference on Robotics and Automation, ICRA 1985
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	506-511
Number of pages	6
ISBN (Print)	0818606150
DOIs	https://doi.org/10.1109/ROBOT.1985.1087273
State	Published - Jan 1 1985
Event	2nd IEEE International Conference on Robotics and Automation, ICRA 1985 - St. Louis, United States Duration: Mar 25 1985 → Mar 28 1985

Publication series

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

Other

Other	2nd IEEE International Conference on Robotics and Automation, ICRA 1985
Country	United States
City	St. Louis
Period	3/25/85 → 3/28/85

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ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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

A hierarchical-orthogonal-space approach to collision-free path planning. / Wong, E. K.; Fu, K. S.

Proceedings - 1985 IEEE International Conference on Robotics and Automation, ICRA 1985. Institute of Electrical and Electronics Engineers Inc., 1985. p. 506-511 1087273 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Wong, EK & Fu, KS 1985, A hierarchical-orthogonal-space approach to collision-free path planning. in Proceedings - 1985 IEEE International Conference on Robotics and Automation, ICRA 1985., 1087273, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 506-511, 2nd IEEE International Conference on Robotics and Automation, ICRA 1985, St. Louis, United States, 3/25/85. https://doi.org/10.1109/ROBOT.1985.1087273

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

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Access to Document

10.1109/ROBOT.1985.1087273