A Hierarchical Orthogonal Space Approach to Three-Dimensional Path Planning

E. K. Wong, K. S. Fu

    Research output: Contribution to journalArticlepeer-review


    A methodology tor three-dimensional collision-free path planning by which planning is done in the three-dimensional orthogonal two-dimensional projections of a three-dimensional environment is presented. Collision checking is done in each of the three orthogonal twodimensional subspaces using primitive path segments. A hierarchical-path search method is used to speed up the search process. This approach forms basis for spatial planning in environments where no a priori knowledge is assumed. The three orthogonal two-dimensional projections can be readily obtained from three orthogonal cameras in simple environments.

    Original languageEnglish (US)
    Pages (from-to)42-53
    Number of pages12
    JournalIEEE Journal on Robotics and Automation
    Issue number1
    StatePublished - Mar 1986

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • General Engineering
    • Computer Science Applications
    • Electrical and Electronic Engineering


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