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Solving the find-path problem by good representation of free space
Abstract
Free space is represented as a union of (possibly overlapping) generalized cones. An algorithm is presented which efficiently finds good collision-free paths for convex polygonal bodies through space littered with obstacle polygons. The paths are good in the sense that the distance of closest approach to an obstacle over the path is usually far from minimal over the class of topologically equivalent collision-free paths. The algorithm is based on characterizing the volume swept by a body as it is translated and rotated as a generalized cone, and determining under what conditions one generalized cone is a subset of another.
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Citations
Cited by
Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
Khatib, O. (1986) · The International Journal of Robotics Research · doi:10.1177/027836498600500106 · Cited by 7,894
A review of mobile robots: Concepts, methods, theoretical framework, and applications
Rubio, F., Valero, F., & Llopis-Albert, C. (2019) · International Journal of Advanced Robotic Systems · doi:10.1177/1729881419839596 · Cited by 763
Lumelsky, V. J., & Stepanov, A. A. (1987) · Algorithmica · doi:10.1007/bf01840369 · Cited by 699
Metadata
- Authors
- Brooks, R. A.
- Venue
- IEEE Transactions on Systems, Man, and Cybernetics
- Published
- 1983-03
- Volume
- SMC-13
- Issue
- 2
- Pages
- 190-197
- ISSN
- 0018-9472 (ISSN-L)
- 2168-2909
- OpenAlex
- W1602132814
- Cited by
- 601
- References
- 0
- FWCI
- 37.26
- Type
- journal article
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: Solving the find-path problem by good representation of free space. https://app.cochat.ai/papers/10.1109/tsmc.1983.6313112
- The paper
- Brooks, R. A. (1983). Solving the find-path problem by good representation of free space. IEEE Transactions on Systems, Man, and Cybernetics. https://doi.org/10.1109/tsmc.1983.6313112
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
