GROSS MOTION PLANNING - A SURVEY

被引：13

作者：

HWANG, YK

AHUJA, N

机构：

[1] UNIV ILLINOIS,BECKMAN INST,URBANA,IL 61801

[2] UNIV ILLINOIS,COORDINATED SCI LAB,URBANA,IL 61801

来源：

COMPUTING SURVEYS | 1992年 / 24卷 / 03期

关键词：

COLLISION DETECTION; COMPUTATIONAL GEOMETRY; IMPLEMENTATION; MOTION PLANNING; OBSTACLE AVOIDANCE; PATH PLANNING; SPATIAL REPRESENTATION;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

Motion planning is one of the most important areas of robotics research. The complexity of the motion-planning problem has hindered the development of practical algorithms. This paper surveys the work on gross-motion planning, including motion planners for point robots, rigid robots, and manipulators in stationary, time-varying, constrained, and movable-object environments. The general issues in motion planning are explained. Recent approaches and their performances are briefly described, and possible future research directions are discussed.

引用

页码：219 / 291

页数：73

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