Transcription of Robotic Motion Planning: Configuration Space
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Robotic Motion Planning: Configuration Space
16-735, Howie Choset with slides from Hager, Z. Dodds, and Dinesh MochaRobotic Motion planning : Configuration SpaceRobotics Institute 16-735 ~motionplanningHowie ~choset16-735, Howie Choset with slides from Hager, Z. Dodds, and Dinesh MochaWhat if the robot is not a point?The Scout should probably not be modeled as a Nor should robots with extended linkages that may contact , Howie Choset with slides from Hager, Z. Dodds, and Dinesh MochaWhat is the position of the robot?Expand obstacle(s)Reduce robotnot quite right ..16-735, Howie Choset with slides from Hager, Z. Dodds, and Dinesh MochaConfiguration Space A key concept for Motion planning is a Configuration : a complete specification of the position of every point in the system A simple example: a robot that translates but does not rotate inthe plane: what is a sufficient representation of its Configuration ? The Space of all configurations is the Configuration spaceor formalism:Lozano-Perez 7916-735, Howie Choset with slides from Hager, Z.
• A key concept for motion planning is a configuration: – a complete specification of the position of every point in the system • A simple example: a robot that translates but does not rotate in the plane: – what is a sufficient representation of its configuration? • The space of all configurations is the configuration space or C-space.
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