Computer animation: theory and practice
Computer animation: theory and practice
Principles of interactive computer graphics (2nd ed.)
Principles of interactive computer graphics (2nd ed.)
A search algorithm for motion planning with six degrees of freedom
Artificial Intelligence
Control of a virtual actor: the roach
I3D '90 Proceedings of the 1990 symposium on Interactive 3D graphics
Robot Motion Planning
Fast animation and control of nonrigid structures
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Robot Manipulators: Mathematics, Programming, and Control
Robot Manipulators: Mathematics, Programming, and Control
Spatial Planning: A Configuration Space Approach
IEEE Transactions on Computers
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This paper presents a new motion planning method for an arbitrary solid with six degrees of freedom moving in a 3D environment. The essence of the method is to efficiently capture local moving information of the solid in order to speed up the heuristic search in the configuration space. For this purpose, the moving freedoms of a solid at any configuration are directly calculated by introducing the characteristic volume and characteristic obstacles of the solid. Based on the local information about the moving freedoms, a heuristic search similar to the A* is performed in the configuration space to find a collision-free path between the initial and final configurations. A 3D motion planning example shows that the method is capable of dealing with complex moving solids and environments. To increase the search efficiency in configuration space, some extensions of the methods for incorporating with global methods are discussed. Applications of the method in computer animation and virtual reality are indicated.