Method and apparatus of free space enumeration for collision avoidance
US5047916A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Mar 24, 1989 |
| Grant date | Sep 10, 1991 |
| Priority date | — |
| Expiry date | Mar 24, 2009 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J9/1666
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method and an apparatus for free space enumeration for motion planning, having general applicability while reducing amounts of information and calculations involved, capable of modifying a path, capable of setting up appropriate configuration space quantization, and capable of adopting appropriate strategy for free space enumeration. The method may include the step of selecting cells only between the initial point and the final point, or selecting cells between the initial point and the final point, using a plurality of strategies for selecting the cells simultaneously, or dividing the configuration space into multiplicity of cells defined in terms of intervals in the degrees of freedom, or determining a collision-free path in the free space joining the initial point and the final point without collision, or modifying the collision-free path.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.