Computing the topology of configuration space
J.J. Fox, Anthony A. Maciejewski · 2003
The problem of planning collision-free paths for manipulators is considered. An algorithm is presented for generating the connectivity graph for a class of articulated manipulators. The algorithm is based upon the ability to determine whether two distinct obstacles in configuration space intersect. The efficiency of the test which is developed lies in the ability to determine the intersection relation by evaluating the curves which describe the configuration space obstacles at only a small number of points.>