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 - Funding Information:
Work on this paper has been supported by Office of Naval Research Grant N00014-82-K-0381N,a tionalScience Foundation Grant No. NSF-DCR-83-20085,a nd by grants from the Digital EquipmentC orporationa, nd the IBM Corporation.
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 -