A Subdivision Algorithm Configuration Space for Findpath With Rotation

A recursive cellular representation for configuration space is presented, along with an algorithm for searching that space for collision free paths. The details of the algorithm are presented for polygonal obstacles and a moving object with two translational and one rotational degrees of freedom.

Authors

• Rodney A. Brooks Cynthia Breazeal (Ferrell)
• Tomes Lozano-Perez

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