This paper presents an efficient algorithm for guidance of a convex rigid body in-between nonconvex polygonal objects in a Computer-Aided Design (CAD) environment. A shrinking procedure is used that separates the kinematic from the shape constraints by reducing the problem to that of guidance of a line segment in an expanded environment. A slicing technique together with an algorithm for decomposition of the interface channel between the nonconvex objects is used to generate the motion program for the line segment. The results can be applied to model based guidance of mobile robots or automatic motion planning for robot manipulators.

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