What does configuration space mean?
The space of every possible configuration of the robot, such as (x, y, heading), with the obstacles grown by the robot's size so that the robot can be planned for as a single point. Often written C-space.
In a lesson
That grown world is the configuration space, usually written C-space. A configuration is a complete description of where the robot is: for a robot on a flat mat that can slide and turn, it is
(x, y, heading), so C-space is three dimensional. The obstacles in C-space are the configurations that would be a collision, and they are what growing the rectangles approximates.
Learn it
- Taught in U9.1 The configuration space Planning, University