Fast Mapping of Obstacles Into Configuration Space

[+] Author and Article Information
Wei Li, Chenyu Ma, Zushun Chen, Qi Cao, Jingnan Ye

Department of Computer Science and Technology, Tsinghua University, Beijing 100084, People’s Republic of China

J. Dyn. Sys., Meas., Control 120(2), 298-304 (Jun 01, 1998) (7 pages) doi:10.1115/1.2802424 History: Received May 20, 1997; Online December 03, 2007


This paper presents an approach to fast mapping of obstacles from a workspace into a configuration space, based on defining some specific points in the workspace as fundamental obstacles. In order to achieve this objective, we propose efficient algorithms for mapping complex Cartesian obstacles by determining their critical points. The computational time required for mapping a two-dimensional obstacle is approximately 5 ms with a 33 Mhz 80486 CPU. Obstacle mapping in this paper is based on a CAD model of an environment that provide global information. The proposed mapping procedure and algorithms are suitable for industrial manipulators with a symmetric workspace occupied by polygonal obstacles.

Copyright © 1998 by The American Society of Mechanical Engineers
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