TY - GEN
T1 - An automatic motion planning system for a convex polygonal mobile robot in 2-D polygonal space
AU - Kedem, Klara
AU - Sharir, Micha
N1 - Publisher Copyright:
© 1988 ACM.
PY - 1988/1/6
Y1 - 1988/1/6
N2 - We present an automatic system for planning the (translational and rotational) collision-free motion of a convex polygonal body B in two-dimensional space bounded by a collection of polygonal obstacles. The system consists of a (combinatorial, non-heuristic) motion planning algorithm, based on sophisticated algorithmic and combinatorial techniques in computational geometry, and is implemented on a Cartesian robot system equipped with a 2-D vision system. Our algorithm runs in the worst-case in time O(knλ6(kn) log kn), where k is the number of sides of B, n is the total number of obstacle edges, and λ6(r) is the (nearly-linear) maximum length of an (r, 6) Davenport Schinzel sequence. Our implemented system provides an "intelligent" robot that, using its attached vision system, can acquire a geometric description of the robot and its polygonal environment, and then, given a high-level motion command from the user, can plan a collision-free path (if one exists), and then go ahead and execute that motion.
AB - We present an automatic system for planning the (translational and rotational) collision-free motion of a convex polygonal body B in two-dimensional space bounded by a collection of polygonal obstacles. The system consists of a (combinatorial, non-heuristic) motion planning algorithm, based on sophisticated algorithmic and combinatorial techniques in computational geometry, and is implemented on a Cartesian robot system equipped with a 2-D vision system. Our algorithm runs in the worst-case in time O(knλ6(kn) log kn), where k is the number of sides of B, n is the total number of obstacle edges, and λ6(r) is the (nearly-linear) maximum length of an (r, 6) Davenport Schinzel sequence. Our implemented system provides an "intelligent" robot that, using its attached vision system, can acquire a geometric description of the robot and its polygonal environment, and then, given a high-level motion command from the user, can plan a collision-free path (if one exists), and then go ahead and execute that motion.
UR - http://www.scopus.com/inward/record.url?scp=57249100072&partnerID=8YFLogxK
U2 - 10.1145/73393.73427
DO - 10.1145/73393.73427
M3 - Conference contribution
AN - SCOPUS:57249100072
T3 - Proceedings of the 4th Annual Symposium on Computational Geometry, SCG 1988
SP - 329
EP - 340
BT - Proceedings of the 4th Annual Symposium on Computational Geometry, SCG 1988
PB - Association for Computing Machinery, Inc
T2 - 4th Annual Symposium on Computational Geometry, SCG 1988
Y2 - 6 June 1988 through 8 June 1988
ER -