TY - GEN
T1 - An efficient algorithm for planning collision-free translational motion of a convex polygonal object in 2-dimensional space amidst polygonal obstacles
AU - Kedem, K.
AU - Sharir, M.
N1 - Publisher Copyright:
© 1985 ACM.
PY - 1985/6/1
Y1 - 1985/6/1
N2 - We state and prove a theorem about the number of points of local nonconvexity in the union of m Minkowski sums of planar convex sets, and then apply it to planning a collision-free translational motion of a convex polygon B amidst several (convex) polygonal obstacles Ax following a basic approach suggested by Lozano- Perez and Wesley. Assuming that the number of corners of B is fixed, the algorithm developed here runs in time 0(n log™), where n is the total number of corners of the A's.
AB - We state and prove a theorem about the number of points of local nonconvexity in the union of m Minkowski sums of planar convex sets, and then apply it to planning a collision-free translational motion of a convex polygon B amidst several (convex) polygonal obstacles Ax following a basic approach suggested by Lozano- Perez and Wesley. Assuming that the number of corners of B is fixed, the algorithm developed here runs in time 0(n log™), where n is the total number of corners of the A's.
UR - http://www.scopus.com/inward/record.url?scp=13644283663&partnerID=8YFLogxK
U2 - 10.1145/323233.323244
DO - 10.1145/323233.323244
M3 - Conference contribution
AN - SCOPUS:13644283663
T3 - Proceedings of the 1st Annual Symposium on Computational Geometry, SCG 1985
SP - 75
EP - 80
BT - Proceedings of the 1st Annual Symposium on Computational Geometry, SCG 1985
PB - Association for Computing Machinery, Inc
T2 - 1st Annual Symposium on Computational Geometry, SCG 1985
Y2 - 5 June 1985 through 7 June 1985
ER -