Differential budding: method and apparatus for path planning with moving obstacles and goals
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United States of America Patent
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Apr 27, 2004
Issued Date -
N/A
app pub date -
Apr 11, 1990
filing date -
Mar 9, 1988
priority date (Note) -
Expired
status (Latency Note)
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Abstract
A method is presented for path planning after changes in task space. In one embodiment, the method is applied to planning a path for a robot arm. The method identifies areas in the configuration space which are affected by the changes in task space. Cost waves can then be repropagated in these affected areas to allow for planning in N dimensions and using space variant metrics. The method is also adapted to use in the presence of phantom obstacles.
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