Heuristic Motion Planning with Many Degrees of Freedom

We present a heuristic approach to the geometric motion planning problem with the aim to quickly solve intuitively simple problems. It is based on a divide-and-conquer path search strategy which makes inquiries about feasible paths; to answer these, we develop an efficient collision detection scheme that handles translations and rotations of polyhedra to compute all times of collision. The whole algorithm can be easily implemented and has been successfully tested in a program for assembly planning.

• Type: Conference
• Year: 1996
• Where: CCCG
• Authors: Thomas Chadzelek, Jens Eckstein, Elmar Schömer
• Keywords: CCCG 1996, CCCG 2007, Collision Detection Scheme, Geometric Motion Planning, Path Search Strategy