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Method and apparatus for path planning

  • US 6,604,005 B1
  • Filed: 11/16/1990
  • Issued: 08/05/2003
  • Est. Priority Date: 11/20/1987
  • Status: Expired due to Term
First Claim
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1. A method for determining at least one physical motion specification for a physical object comprising executing the following steps in at least one digital data processing device and at least one computer readable storage medium that is included in or coupled with the at least one digital data processing device:

  • a) embodying, in the at least one computer readable storage medium, a configuration space data structure representing a physical task space that surrounds the physical object in physical reality, the configuration space data structure including signals representing the physical object and the physical task space; and

    b) propagating cost waves, in the configuration space data structure, to fill the configuration space data structure with cost values according to a space variant metric, the cost values representing physical aspects of the physical task space with respect to physical motion of the physical object.

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