Title: On the Parameterization and the Geometry of the Configuration Space of a Single Planar Robot
Authors: Atariah, Dror
Ghosh, Sunayana
Rote, Günter
Citation: Journal of WSCG. 2013, vol. 21, no. 1, p. 11-20.
Issue Date: 2013
Publisher: Václav Skala - Union Agency
Document type: článek
URI: http://wscg.zcu.cz/WSCG2013/!_2013_J_WSCG-1.pdf
ISSN: 1213–6972 (hardcopy)
1213-6980 (CD-ROM)
1213–6964 (on-line)
Keywords: robotika;plánování pohybu;počítačová geometrie
Keywords in different language: robotics;motion planning;computational geometry
Abstract: Translating and rotating planar polygonal robots are studied in the literature for decades. An integral part of this study is the configuration space which corresponds to the work space. In the context of motion planning problems, the boundary between the free and forbidden parts of the configuration space plays a major role. In this paper we find an explicit parameterization of the boundary of the forbidden space. Using this parameterization we detail several geometrical properties of the various elements which constitute this boundary. In addition, this parameterization enables us to visualize these elements.
Rights: © Václav Skala - UNION Agency
Appears in Collections:Volume 21, Number 1 (2013)

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Please use this identifier to cite or link to this item: http://hdl.handle.net/11025/6866

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