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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.
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Rodney A. Brooks
Robust Chip (United States)
Tomás Lozano‐Pérez
Massachusetts Institute of Technology
IEEE Transactions on Systems Man and Cybernetics
Massachusetts Institute of Technology
Intel (United States)
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Brooks et al. (Fri,) studied this question.
synapsesocial.com/papers/6a1704bd25571367076be087 — DOI: https://doi.org/10.1109/tsmc.1985.6313352