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Minimum Speed Motions
Excerpt from Minimum Speed Motions
Until recently, work in the area of algorithmic motion planning has mostly concentrated on the problem of finding a (collision-free) trajectory for a system of objects in a static environ ment. (for a survey of results and an overview of methods, see A common approach to solving such problems is to define configuration space in which each point corresponds to a placement of the objects and to search for a path in this space that avoids the points corresponding to placements that result in collisions. In such a model there is no mention of time. As long a the objects move according to the computed path no collision will occur independent of the rate at which the path is followed. Thus while the various objects must move with specific speeds relative to one another in order to follow a given path in configuration space, there remains a degree of freedom in choosing the rate at which the system of objects progresses towards the goal placement.
Until recently, work in the area of algorithmic motion planning has mostly concentrated on the problem of finding a (collision-free) trajectory for a system of objects in a static environ ment. (for a survey of results and an overview of methods, see A common approach to solving such problems is to define configuration space in which each point corresponds to a placement of the objects and to search for a path in this space that avoids the points corresponding to placements that result in collisions. In such a model there is no mention of time. As long a the objects move according to the computed path no collision will occur independent of the rate at which the path is followed. Thus while the various objects must move with specific speeds relative to one another in order to follow a given path in configuration space, there remains a degree of freedom in choosing the rate at which the system of objects progresses towards the goal placement.
25 pages, Paperback
Published August 24, 2018
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