Accession Number:

ADA196213

Title:

On Multiple Moving Objects

Descriptive Note:

Memorandum rept.

Corporate Author:

MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB

Report Date:

1986-05-01

Pagination or Media Count:

48.0

Abstract:

This paper explores the motion planning problem for multiple moving objects. The approach taken consists of assigning priorities to the objects, then planning motions one object at a time. For each moving object, the planner constructs a configuration space-time that represents the time-varying constraints imposed on the moving object by the other moving and stationary objects. The planner represents this space-time approximately, using two-dimensional slices. The space-time is then searched for a collision-free path. The paper demonstrates this approach in two domains. One domain consists of translating planar objects the other domain consists of two-link planar articulated arms. Keywords Artificial intelligence.

Subject Categories:

  • Operations Research
  • Cybernetics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE