Class 2 (April 8) : CONFIGURATION
SPACE AND BASIC TECHNIQUES
- Topics:
- Notion of a robot configuration
- Representations
- Structure of configuration space
- Notion of a path, trajectory
- Obstacle mapping
- Basic path-planning methods: roadmaps, cell decomposition, potential fields
- Required Reading:
- Early paper on configuration space:
T. Lozano-Perez. Spatial Planning: A Configuration Space Approach.
IEEE Transactions on Computers, C-32(2):108-120.
- Early paper on potential fields:
O. Khatib. Real-Time Obstacle Avoidance for Manipulators and Mobile Robots.
The Int. J. of Robotics Research, 5(1):90-98, 1986.
pdf
- Other Reading:
- Textbook:
J.C. Latombe. Robot Motion Planning. Kluwer Academic Pub.,
Boston (MA), 1991. Chapters 2 and 3.
- Powerpoint slides