Accession Number : ADA257926


Title :   Implementation and Experimentation with Motion Planning Algorithms


Descriptive Note : Final rept. 1 Oct 1991-30 Sep 1992


Corporate Author : NEW YORK UNIV NY COURANT INST OF MATHEMATICAL SCIENCES


Personal Author(s) : Sharir, Micha


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a257926.pdf


Report Date : Oct 1991


Pagination or Media Count : 19


Abstract : The main charter of this contract is the implementation and experimentation with motion planning algorithms that emphasize the exact combinatorial and purely geometric approach. Motion planning is considered to be one of the major research areas in robotics, and is one of the main stages in the design and implementation of autonomous intelligent systems, which is an important long-range goal in robotics research. Motion planning is one of the basic capabilities that such a system must possess. In purely geometric terms, the simplest version of the problem can be stated as follows. The system is given complete information about the geometry of the environment in which it is to operate (and of its own structure), and has to process it so that, when commanded to move from its current position to some target position, it can determine whether it can do so without colliding with any of the obstacles around it, and if so plan (and execute) such a motion.


Descriptors :   *ALGORITHMS , *ROBOTICS , *MOTION , COMPUTATIONS , PROBLEM SOLVING , THREE DIMENSIONAL , GEOMETRY


Subject Categories : Cybernetics


Distribution Statement : APPROVED FOR PUBLIC RELEASE