Spatial Planning: A Configuration Space Approach

摘要: This paper presents algorithms for computing constraints on the position of an object due to presence ther objects. problem arises in applications that require choosing how arrange or move objects without collisions. The approach presented here is based characterizing and orientation as a single point configuration space, which each coordinate represents degree freedom object. configurations forbidden this object, other objects, can then be characterized regions called space obstacles. these obstacles when are polygons polyhedra.