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US 5,808,887 AGranted
Animation of path planning
AssigneePhilips Electronics North America Corporation
InventorsLeendert Dorst, Karen Irene Trovato
Life of this patent
Estimating the term…
Abstract
A method and apparatus for path planning are presented. Path planning involves propagating cost waves in a configuration space representation of a task space. A space variant metric and budding are used for cost wave propagation. The disclosed method and apparatus are readily adaptable to robots with n degrees of freedom.
Claims24
Computer animation device comprising
- means for storing a configuration space data structure representing a physical task space, the configuration space data structure including representations of the object and its environment;
- means for propagating cost waves through the configuration space data structure using a space variant metric;
- means for displaying a representation of the object and the environment based on the configuration space data structure;
- and
- means for displaying motion of the object through the representation.
2 more elements
Computer animation device comprising
- means for storing a configuration space data structure representing a physical task space, the configuration space data structure including representations of the object and its environment, wherein the configuration space data structure comprises an array of states, each state representing a pose of the object, which array comprises a dimension for each degree of freedom of the object;
- means for propagating cost waves throughout the configuration space data structure, the means for propagating comprising
- means for exploring all neighbors of a state in the configuration space data structure;
- means for improving neighbors of the state by assigning appropriate values of cost to goal and direction arrows to the state;
- and
- means for adding improved neighbors to a storage data structure
- means for displaying a representation of the object and the environment based on the configuration space data structure;
- and
- means for displaying motion of the object through the representation.
6 more elements
Computer software embodied in a computer readable medium comprising
- means for controlling storage of a configuration space data structure representing a physical task space, the configuration space data structure including representations of the object and its environment;
- means for propagating cost waves through the configuration space data structure using a space variant metric;
- means for causing display of a representation of the object and the environment based on the configuration space data structure;
- and
- means for causing display of motion of the object through the representation.
2 more elements
Computer software embodied in a computer-readable storage medium comprising
- means for controlling storage of a configuration space data structure representing a physical task space, the configuration space data structure including representations of the object and its environment, wherein the configuration space data structure comprises an array of states, each state representing a pose of the object, which array comprises a dimension for each degree of freedom of the object;
- means for propagating cost waves throughout the configuration space data structure, the means for propagating comprising
- means for exploring all neighbors of a state in the configuration space data structure;
- means for improving neighbors of the state by assigning appropriate values of cost to goal and direction arrows to the state;
- and
- means for adding improved neighbors to a storage data structure
- means for causing display of a representation of the object and the environment based on the configuration space data structure;
- and
- means for causing display of motion of the object through the representation.
6 more elements
Dependencies are inferred from the claim text.