Abstract

This paper presents a new method for computing the configuration-space map of obstacles that is used in motion-planning algorithms. The method de- rives 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 Trans- form (FFT) algorithm. The method is particularly promising for workspaces with many and/or complicated obstacles, or when the shape of the robot is not simple. It is an inherently parallel method that can significantly benefit from existing experience and hardware on the FFT.

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