Configuration Space Computations for Polyhedra With Planar Motions
نویسنده
چکیده
This report describes an algoriUun thal computes the configuration space of a polyhedron willi planar motion relative La a fixed polyhedral obstacle. The algorilJlm decomposes the configuration space along Ule orienlation axis into intervals of cross-sections with the same structure. It computes the angles where the srrucrurc changes. In each interval between two changes, it computes the (fi:'\cd) free-space structure from a representalive cross-secllon then lifts the contact curves to construct an adjacency graph or contacL pmches.
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