| 摘要 |
<p>A method and an apparatus of free space enumeration for motion planning, having general applicability while reducing amounts of information and calculations involved, capable of modifying a path, capable of setting up appropriate configuration space quantization, and capable of adopting appropriate strategy for free space enumeration. The method may include the step of selecting cells only between the initial point and the final point, or selecting cells between the initial point and the final point, using plurality of strategies for selecting the cells simultanuously, or dividing the configuration space into multiplicity of cells defined in terms of intervals in the degrees of freedom, or determining a collision-free path in the free space joining the initial point and the final point without the collision, or modifying the collision-free path. The apparatus for performing the method is also disclosed.</p> |
