The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 10, 1991
Filed:
Mar. 24, 1989
Koichi Kondo, Yokohama, JP;
Kabushiki Kaisha Toshiba, Kawasaki, JP;
Abstract
A method and an apparatus for free space enumeration for motion planning, having general applicability while reducing amounts of information and calculations involved, capable of modifying a path, capable of setting up appropriate configuration space quantization, and capable of adopting appropriate strategy for free space enumeration. The method may include the step of selecting cells only between the initial point and the final point, or selecting cells between the initial point and the final point, using a plurality of strategies for selecting the cells simultaneously, or dividing the configuration space into multiplicity of cells defined in terms of intervals in the degrees of freedom, or determining a collision-free path in the free space joining the initial point and the final point without collision, or modifying the collision-free path.