Describing Moving Obstacles in a Configuration Space.

Generation of configuration space obstacles: the case of a moving sphere

Robot Motion Planning by Approximation of Obstacles in Configuration Space

This paper describes an approach for automatic robot motion planning. A starting path consisting of the direct line connection from start to goal in the configuration space is generated first. At the most colliding configuration a new point is added and moved out of the collision. For this the configuration space is approximated using a corresponding skeleton robot and a point-like obstacle. A ...

Computation of Configuration-Space Obstacles Using the Fast Fourier Transform

Computation of Configuration-Space Obstacles Using the Fast Fourier Tkansform

Thh paper presents a new method for computing the configuration-space map of obstacles that is used in motion-planning algorithms. The method derives from the observation that, when the robot is a rigid object that can only translate, the configuration space is a convolution of the workspace and the robot. This convolution is computed with the use of the Fast Fourier Transform (FFT) algorithm. ...

A Novel Method Describing the Space Charge Limited Region in a Planar Diode

A novel and rather simple method is presented to describe the physics of space-charge region in a planar diode. The method deals with the issue in the time domain and as a consequence transient time behavior can be achieved. Potential distributions and currents obtained using this technique, supposing zero initial velocity for electrons, reveal absolute agreement with Child's results. Moreover,...