Computing configuration space obstacles using polynomial transforms

• Published in: 2004 IEEE International Conference on Robotics and Automation Vol. 4; pp. 3920 - 3924 Vol.4
• Main Authors: Wenjie Shu, Zhiqiang Zheng
• Format: Conference Proceeding
• Language: English
• Published: Piscataway NJ IEEE 2004
• Subjects: Applied sciences; Arithmetic; Computer science; control theory; systems; Control theory. Systems; Convolution; Educational institutions; Exact sciences and technology; Motion control; Motion planning; Orbital robotics; Polynomials; Robotics; Robots; Space technology; Sparse matrices; Arithmetics; Robotics; Polynomial transformation
• ISBN: 9780780382329; 0780382323
• ISSN: 1050-4729
• DOI: 10.1109/ROBOT.2004.1308879

In this paper, we propose an algorithm to compute configuration space obstacles based on the polynomial transform (PT) which requires only real arithmetic. The PT-based algorithm is not restricted by the geometrical characteristics of the robot and obstacles in the world and also it can be expanded to the three-dimensional work space without any difficulties. We prove the minimum possible number of multiplications of constructing the configuration space bitmap and present a quantificational standard to select the size of the resolution N. By comparing our algorithm with works prior, the experimental results show that our PT-based algorithm is efficient.