Computer animation of planned path in changing space
First Claim
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1. Computer apparatus for creating animation comprisingmemory means for storing a configuration space data structure representing an object and its environment;
- means for receiving signals indicating a change in the environment;
means for identifying a perimeter of a region in the configuration space data structure;
means for propagating cost waves in the configuration space data structure from the perimeter in order to create an updated configuration space data structure; and
means for displaying motion of the object based on the updated configuration space data structure.
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Abstract
A method is presented for path planning after changes in task space. In one embodiment, the method is applied to planning a path for a robot arm. The method identifies areas in the configuration space which are affected by the changes in task space. Cost waves can then be repropagated in these affected areas to allow for planning in N dimensions and using space variant metrics. The method is also adapted to use in the presence of phantom obstacles.
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Citations
32 Claims
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1. Computer apparatus for creating animation comprising
memory means for storing a configuration space data structure representing an object and its environment; -
means for receiving signals indicating a change in the environment; means for identifying a perimeter of a region in the configuration space data structure; means for propagating cost waves in the configuration space data structure from the perimeter in order to create an updated configuration space data structure; and means for displaying motion of the object based on the updated configuration space data structure. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. Computer software, embodied in a computer-readable medium, for creating animation comprising
means for causing storage of a configuration space data structure representing an object and its environment; -
means for causing reception of signals indicating a change in the environment; means for causing identification of a perimeter of a region in the configuration space data structure; means for causing propagation of cost waves in the configuration space data structure from the perimeter in order to create an updated configuration space data structure; and means for causing display of motion of the object based on the updated configuration space data structure. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32)
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Specification