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 -