Computation of configuration-space obstacles using the fast Fourier transform
作者： L.E. Kavraki
DOI: 10.1109/70.388783
关键词:
摘要: This paper presents a new method for computing the configuration-space map of obstacles that is used in motion-planning algorithms. The derives from observation that, when robot rigid object can only translate, configuration space convolution workspace and robot. computed with use fast Fourier transform (FFT) algorithm. particularly promising workspaces many and/or complicated obstacles, or shape not simple. It an inherently parallel significantly benefit existing experience hardware on FFT. >
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