Robotics Research Technical Report: On the General Motion Planning Problem With Two Degrees of Freedom (Classic Reprint) - Softcover

Inhaltsangabe

How to plan a robot’s moves when it has only two freedom degrees — discover practical ways to understand and compute collision-free paths in complex spaces.

This nonfiction work presents a focused study of motion planning for a two‑degree‑of‑freedom robot. It explains how the space of all placements is split into feasible and forbidden regions, and how a single connected component of the free space can be identified efficiently. The results combine topological insights with algorithmic techniques to bound complexity and improve performance in typical cases.

• How to model the robot’s placement space and the free configuration space FP.


• Ways to bound the complexity of a single connected component of FP and why this matters for speed.


• Algorithms that compute a specific face containing a given placement, using line sweeping and related methods.


• Concrete examples with simple robots to illustrate the approach and its limits.

Ideal for readers of robotics, computational geometry, and algorithm design who want a practical view of motion planning with two degrees of freedom.

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