A method for fast computation of collision-free robot movements in configuration-space
Peter Adolphs, D. Nafziger · 2002
Some algorithms for a fast and efficient computation of collision-free robot gross-motions are presented. A technique based on a lookup-table for mapping obstacles into configuration-space, is shown. Some algorithms for the generation of the distance-field in configuration space, which were derived from well-known methods but adapted for c-space, are described and compared with respect to their effectiveness.>