COLLISION-FREE MOVEMENT FOR MANIPULATORS
Xiong You-Iun, Han Ding, Huaz hong · 1988
In this paper, we present a general procedure for finding collision-free paths for a polyhedral ob ject moving through space that is cluttered with obs tacle polyhedra. The unified criterion of collision free motion is represented as Conv {HiJnConv {OjJ�¢ which is suitable for all cases regardless of the space dimensionality. Based on the criterion. we are led to construct the describing function J which atands for minimal distance between the moving object and obstac les. Tha algorithm derived from describing function J can be used to find any path of interest for both the 2-D problem and the 3-D prob lem. It is shown that the solution method to the find path problem may be reduced to a search technique. Since the describin g function J is related to only some extreme points, the strategy for automatically determining safe paths between con figurations in presence of obstacles may be effectively implemented by a simple programming.