Spatial Representation and Motion Planning

Angel P. del Pobil,Miquel A. Serna

Spatial Representation and Motion Planning
Format
Paperback
Publisher
Springer-Verlag Berlin and Heidelberg GmbH & Co. KG
Country
Germany
Published
8 November 1995
Pages
242
ISBN
9783540606208

Spatial Representation and Motion Planning

Angel P. del Pobil,Miquel A. Serna

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This book is devoted to the development of adequate spatial representations for robot motion planning. Drawing upon advanced heuristic techniques from AI and computational geometry, the authors introduce a general model for spatial representation of physical objects. This model is then applied to two key problems in intelligent robotics: collision detection and motion planning. In addition, the application to actual robot arms is kept always in mind, instead of dealing with simplified models. This monograph is built upon Angel del Pobil’s PhD thesis which was selected as the winner of the 1992 Award of the Spanish Royal Academy of Doctors.

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