Patent ID: 6728581
Filing Date: 2004-04-27
Classification: B25J,G05B,G05D,G06F,Y10S

Abstract:
A method for planning a physical path for a physical object to follow in a physical task space in which there has been a physical change in conditions comprising executing the following steps in at least one digital data processing device that includes or is coupled with at least one computer readable medium:a. starting from an initialized configuration space data structure, embodied within the at least one computer storage medium and representing the physical task space, the configuration space data structure storing signals representing the object and its environment; b. receiving signals indicating the physical change in conditions; c. identifying a perimeter of a region in the configuration space data structure which is affected by the change in conditions; d. propagating cost waves in the configuration space data structure, within the at least one computer readable medium, from the perimeter to update the signals stored in the configuration space data structure; and e. providing parameter signals based on the updated signals, the parameter signals being usable by the physical object to follow the physical path.