Configuration Space Computations for Polyhedra With Planar Motions
Elisha P. Sacks · Purdue e-Pubs (Purdue University System) · 2001
This report describes an algoriUun thal computes the configuration space of a polyhedron willi planar motion relative La a fixed polyhedral obstacle.The algorilJlm decomposes the configuration space along Ule orienlation axis into intervals of cross-sections with the same structure.It computes the angles where the srrucrurc changes.In each interval between two changes, it computes the (fi:'\cd) free-space structure from a representalive cross-secllon then lifts the contact curves to construct an adjacency graph or contacL pmches.I