Planning for interactions in the curvature radii of curvature SEVERAL AND ADAPTIVE landmark

摘要

1. A computer method for providing a device configuration, the method comprising performing operations in at least one data processing device, wherein the operations comprise: receiving specification of admissible Performance tubes, wherein the tubes comprise specifications of at least one diameter and the notation at least one respective curvature radius for each diameter, wherein for at least one handset, a respective radius of curvature less than the possible range for at it least one tube of larger diameter; Obtain space to be examined device, wherein the description comprises a specification of at least one starting point to at least one space and / or at least one obstacle, and at least one target station; selecting a plurality of tubes such that when the tube is deployed, they asked at least one path through the space from the starting point to the goal of free space, avoiding obstacles, etc. When in use, said selection corresponds to the set and description, and the result of said selecting comprises: a description of at least one sequence of tubes, at least one radius of curvature for each handset; Accordingly, the length for each selected tube iuglovuyu orientation of the tube relative to the preceding trubki.2. The method of claim 1, wherein at least one of the radii of curvature selected based on the maximum radius of rotation for a steep potential trubki.3 respective diameter. A method according to claim 1, wherein the specification with