A search algorithm for motion planning with six degrees of freedom

摘要

The motion planning problem is of central importance to the fields of robotics, spatial planning, and automated design. In robotics we are interested in the automatic synthesis of robot motions, given high-level specifications of tasks and geometric models of the robot and obstacles. The “Movers'” problem is to find a continuous, collision-free path for a moving object through an environment containing obstacles. We present an implemented algorithm for the classical formulation of the three-dimensional Movers' problem: Given an arbitrary rigid polyhedral moving object P with three translational and three rotational degrees of freedom, find a continuous, collision-free path taking P from some initial configuration to a desired goal configuration.