An efficient algorithm for planning collision-free translational motion of a convex polygonal object in 2-dimensional space amidst polygonal obstacles

K. Kedem, M. Sharir

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

25 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 1st Annual Symposium on Computational Geometry, SCG 1985
PublisherAssociation for Computing Machinery, Inc
Pages75-80
Number of pages6
ISBN (Electronic)0897911636, 9780897911634
DOIs
StatePublished - 1 Jun 1985
Externally publishedYes
Event1st Annual Symposium on Computational Geometry, SCG 1985 - Baltimore, United States
Duration: 5 Jun 19857 Jun 1985

Publication series

NameProceedings of the 1st Annual Symposium on Computational Geometry, SCG 1985

Conference

Conference1st Annual Symposium on Computational Geometry, SCG 1985
Country/TerritoryUnited States
CityBaltimore
Period5/06/857/06/85

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