Spatial representation and motion planning:
Gespeichert in:
| Hauptverfasser: | , |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Berlin [u.a.]
Springer
1995
|
| Schriftenreihe: | Lecture notes in computer science
1014 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | XII, 242 S. Ill., graph. Darst. |
| ISBN: | 3540606203 |
Internformat
MARC
| LEADER | 00000nam a2200000 cb4500 | ||
|---|---|---|---|
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| 100 | 1 | |a Pobil, Angel Pasqual del |e Verfasser |0 (DE-588)113882653 |4 aut | |
| 245 | 1 | 0 | |a Spatial representation and motion planning |c Angel Pasqual DelPobil ; Miguel Angel Serna |
| 264 | 1 | |a Berlin [u.a.] |b Springer |c 1995 | |
| 300 | |a XII, 242 S. |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 1 | |a Lecture notes in computer science |v 1014 | |
| 650 | 4 | |a Commande intelligente | |
| 650 | 7 | |a Commande intelligente |2 ram | |
| 650 | 7 | |a Robot - Mouvements |2 ram | |
| 650 | 7 | |a Robotica |2 gtt | |
| 650 | 4 | |a Robots - Mouvements | |
| 650 | 7 | |a donnée spatiale |2 inriac | |
| 650 | 7 | |a planification mouvement |2 inriac | |
| 650 | 7 | |a robotique spatiale |2 inriac | |
| 650 | 7 | |a évitement obstacle |2 inriac | |
| 650 | 4 | |a Robots -- Motion | |
| 650 | 4 | |a Intelligent control systems | |
| 650 | 0 | 7 | |a Dreidimensionale Computergrafik |0 (DE-588)4133691-4 |2 gnd |9 rswk-swf |
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Datensatz im Suchindex
| _version_ | 1820874849096040448 |
|---|---|
| adam_text |
CONTENTS
1.
INTRODUCTION
1
1.1
MOTIVATION
AND
STATEMENT
OF
THE
PROBLEM
1
1.2
REVIEW
OF
PREVIOUS
WORK
7
1.2.1
SPATIAL
REPRESENTATIONS
8
1.2.2
COLLISION
DETECTION
AND
MOTION
PLANNING
9
2.
THE
SPATIAL
REPRESENTATION
1
5
2.1
EXTERIOR
REPRESENTATION
17
2.1.1
PLANAR
CASE
17
2.1.2
EXTENSION
TO
THREE
DIMENSIONS
2
4
2.1.3
QUALITY
OF
A
REPRESENTATION
3
0
2.1.4
THE
EXPERT
SPHERIZER
41
2.2
INTERIOR
REPRESENTATION
5
5
2.2.1
PLANAR
CASE
5
6
2.2.2
EXTENSION
TO
THREE-DIMENSIONAL
SPACE
7
0
2.2.3
HOW
TO
IMPROVE
A
REPRESENTATION
7
5
2.3
CONVERGENCE
AND
HIERARCHY
7
9
2.3.1
CONVERGENCE
OF
THE
EXTERIOR
REPRESENTATION
8
0
2.3.2
CONVERGENCE
OF
THE
INTERIOR
REPRESENTATION
8
5
3.
COLLISION
DETECTION
8
7
3.1
PROBLEM
DEFINITION
8
8
3.1.1
PROBLEM
CLASSIFICATION
8
8
3.1.2
SOLUTION
METHODS
9
2
3.2
INTERSECTION
DETECTION
100
3.2.1
INTERSECTION
BETWEEN
SPHERES
101
3.2.2
ALGORITHM
FOR
EXTERIOR
SPHERES
112
3.2.3
ALGORITHM
FOR
INTERIOR
SPHERES
117
3.2.4
GENERAL
ALGORITHM
119
3.3
MOVING
OBJECTS
123
3.4
APPLICATION
TO
A
MANIPULATOR
124
XII
4.
MOTION
PLANNING
131
4.1
STATEMENT
OF
THE
PROBLEM
,132
4.1.1
PRELIMINARY
CONCEPTS
AND
TERMINOLOGY
132
4.1.2
TAXONOMY
OF
THE
GENERAL
PROBLEM
136
4.2
MOTION
PLANNING
AND
COLLISION
DETECTION
140
4.3
COMPUTING
A
PATH
IN
A
CS
PLANE
147
4.4
DESCRIPTION
OF
THE
GENERAL
METHOD
154
4.5
EFFICIENCY
CONSIDERATIONS
160
4.6
ADAPTIVE
MOTION
162
4.7
APPLICATION
EXAMPLES
162
5.
EXTENSIONS
TO
THE
MODEL
17
3
5.1
PLANAR
FIGURES
WITH
CURVED
BOUNDARIES
175
5.1.1
DEFINITION
OF
THE
EXTENSION
175
5.1.2
COMPUTING
THE
APPROXIMATION
POLYGON
176
5.1.3
EXAMPLES
179
5.2
NON-CONVEX
GENERALIZED
POLYGONS
180
5.2.1
TYPES
OF
NON-CONVEX
POLYGONS
180
5.2.2
THE
EFFICIENT
EDGE
HEURISTICS
REVISITED
183
5.2.3
ISOLATED
NON-CONVEX
ANGLES
186
5.2.4
GENERAL
CASE
191
5.2.5
COMPUTING
ERROR
AREAS
193
5.2.6
EXAMPLES
204
5.3
APPLICATION-DEPENDENT
LOCAL
QUALITY
IMPROVEMENT
206
6.
CONCLUSION
AND
FUTURE
WORK
211
6.1
CONCLUSION
211
6.2
FUTURE
RESEARCH
AND
OPEN
PROBLEMS
214
6.3
A
CONCLUDING
REFLECTION
215
APPENDIX.
DATA
STRUCTURES
FOR
NON-CONVEX
POLYGONS
217
REFERENCES
225 |
| any_adam_object | 1 |
| author | Pobil, Angel Pasqual del Serna, Miguel Angel |
| author_GND | (DE-588)113882653 |
| author_facet | Pobil, Angel Pasqual del Serna, Miguel Angel |
| author_role | aut aut |
| author_sort | Pobil, Angel Pasqual del |
| author_variant | a p d p apd apdp m a s ma mas |
| building | Verbundindex |
| bvnumber | BV010483945 |
| callnumber-first | T - Technology |
| callnumber-label | TJ211 |
| callnumber-raw | TJ211.4.S63 1995 |
| callnumber-search | TJ211.4.S63 1995 |
| callnumber-sort | TJ 3211.4 S63 41995 |
| callnumber-subject | TJ - Mechanical Engineering and Machinery |
| classification_rvk | ST 308 |
| classification_tum | DAT 756f |
| ctrlnum | (OCoLC)246326405 (DE-599)BVBBV010483945 |
| dewey-full | 629.8/92 629.8/9220 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8/92 629.8/92 20 |
| dewey-search | 629.8/92 629.8/92 20 |
| dewey-sort | 3629.8 292 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Informatik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| id | DE-604.BV010483945 |
| illustrated | Illustrated |
| indexdate | 2025-01-10T15:06:16Z |
| institution | BVB |
| isbn | 3540606203 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-006986753 |
| oclc_num | 246326405 |
| open_access_boolean | |
| owner | DE-91G DE-BY-TUM DE-739 DE-384 DE-29T DE-19 DE-BY-UBM DE-20 DE-634 DE-83 DE-11 DE-188 DE-706 |
| owner_facet | DE-91G DE-BY-TUM DE-739 DE-384 DE-29T DE-19 DE-BY-UBM DE-20 DE-634 DE-83 DE-11 DE-188 DE-706 |
| physical | XII, 242 S. Ill., graph. Darst. |
| publishDate | 1995 |
| publishDateSearch | 1995 |
| publishDateSort | 1995 |
| publisher | Springer |
| record_format | marc |
| series | Lecture notes in computer science |
| series2 | Lecture notes in computer science |
| spelling | Pobil, Angel Pasqual del Verfasser (DE-588)113882653 aut Spatial representation and motion planning Angel Pasqual DelPobil ; Miguel Angel Serna Berlin [u.a.] Springer 1995 XII, 242 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Lecture notes in computer science 1014 Commande intelligente Commande intelligente ram Robot - Mouvements ram Robotica gtt Robots - Mouvements donnée spatiale inriac planification mouvement inriac robotique spatiale inriac évitement obstacle inriac Robots -- Motion Intelligent control systems Dreidimensionale Computergrafik (DE-588)4133691-4 gnd rswk-swf Dreidimensionale geometrische Modellierung (DE-588)4209218-8 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf Bewegung (DE-588)4006311-2 gnd rswk-swf Kollisionsschutz (DE-588)4199255-6 gnd rswk-swf Industrieroboter (DE-588)4026861-5 gnd rswk-swf Roboter (DE-588)4050208-9 gnd rswk-swf Dreidimensionale geometrische Modellierung (DE-588)4209218-8 s Roboter (DE-588)4050208-9 s Bewegung (DE-588)4006311-2 s DE-604 Industrieroboter (DE-588)4026861-5 s Bahnplanung (DE-588)4267628-9 s Kollisionsschutz (DE-588)4199255-6 s Dreidimensionale Computergrafik (DE-588)4133691-4 s Serna, Miguel Angel Verfasser aut Lecture notes in computer science 1014 (DE-604)BV000000607 1014 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=006986753&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Pobil, Angel Pasqual del Serna, Miguel Angel Spatial representation and motion planning Lecture notes in computer science Commande intelligente Commande intelligente ram Robot - Mouvements ram Robotica gtt Robots - Mouvements donnée spatiale inriac planification mouvement inriac robotique spatiale inriac évitement obstacle inriac Robots -- Motion Intelligent control systems Dreidimensionale Computergrafik (DE-588)4133691-4 gnd Dreidimensionale geometrische Modellierung (DE-588)4209218-8 gnd Bahnplanung (DE-588)4267628-9 gnd Bewegung (DE-588)4006311-2 gnd Kollisionsschutz (DE-588)4199255-6 gnd Industrieroboter (DE-588)4026861-5 gnd Roboter (DE-588)4050208-9 gnd |
| subject_GND | (DE-588)4133691-4 (DE-588)4209218-8 (DE-588)4267628-9 (DE-588)4006311-2 (DE-588)4199255-6 (DE-588)4026861-5 (DE-588)4050208-9 |
| title | Spatial representation and motion planning |
| title_auth | Spatial representation and motion planning |
| title_exact_search | Spatial representation and motion planning |
| title_full | Spatial representation and motion planning Angel Pasqual DelPobil ; Miguel Angel Serna |
| title_fullStr | Spatial representation and motion planning Angel Pasqual DelPobil ; Miguel Angel Serna |
| title_full_unstemmed | Spatial representation and motion planning Angel Pasqual DelPobil ; Miguel Angel Serna |
| title_short | Spatial representation and motion planning |
| title_sort | spatial representation and motion planning |
| topic | Commande intelligente Commande intelligente ram Robot - Mouvements ram Robotica gtt Robots - Mouvements donnée spatiale inriac planification mouvement inriac robotique spatiale inriac évitement obstacle inriac Robots -- Motion Intelligent control systems Dreidimensionale Computergrafik (DE-588)4133691-4 gnd Dreidimensionale geometrische Modellierung (DE-588)4209218-8 gnd Bahnplanung (DE-588)4267628-9 gnd Bewegung (DE-588)4006311-2 gnd Kollisionsschutz (DE-588)4199255-6 gnd Industrieroboter (DE-588)4026861-5 gnd Roboter (DE-588)4050208-9 gnd |
| topic_facet | Commande intelligente Robot - Mouvements Robotica Robots - Mouvements donnée spatiale planification mouvement robotique spatiale évitement obstacle Robots -- Motion Intelligent control systems Dreidimensionale Computergrafik Dreidimensionale geometrische Modellierung Bahnplanung Bewegung Kollisionsschutz Industrieroboter Roboter |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=006986753&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV000000607 |
| work_keys_str_mv | AT pobilangelpasqualdel spatialrepresentationandmotionplanning AT sernamiguelangel spatialrepresentationandmotionplanning |