On multiple moving objects

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.

Authors

• Michael A. Erdmann
• Tomás Lozano-Pérez

Keywords

• Arm
• Robotic assembly
• Displays
• Artificial intelligence
• Laboratories
• Space technology
• Technology planning
• Uncertainty
• Solid modeling
• Polynomials
• Object Motion
• Static Objects
• Planning Problem
• Collision-free Path
• Rectangular
• Degrees Of Freedom
• Fixed Point
• Specific Time Points
• Reachable
• Objective Presentation
• Path Planning
• Configuration Space
• Center Of Rotation
• Hypersurface
• Line Approach
• Motion In Space
• Adjacent Slices
• Static Obstacles
• Spacetime Region
• Small Triangle
• Path Segment
• Configuration Of Objects
• Obstacle Position