NDLI: Compliant motion in a simple polygon ( SCG '89 )

Content Provider	ACM Digital Library
Author	Friedman, J. Hershberger, J. Snoeyink, J.
Abstract	We consider motion planning under the compliant motion model, in which a robot directed to walk into a wall may slide along it. We examine several variants of compliant motion planning for a point robot inside a simple polygon with n sides, where the goal is a fixed vertex or edge. For the case in which the robot moves with perfect control, we build a data structure that lets us in &Ogr;(log n) time determine the range of directions in which the robot can move from a query point to the goal in a single step. This structure lets us solve a variety of other problems: we can find a similar query data structure for multi-step paths; we can solve single-step problems allowing uncertainty in control and position sensing; and we can explicitly compute the set of all points that can reach the goal in a single step, even allowing uncertainty in control. Our algorithms run in &Ogr;(n log n) time and linear space; they use a novel method for maintaining convex hulls of simple paths that may be of independent interest.
Starting Page	175
Ending Page	186
Page Count	12
File Format	PDF
ISBN	0897913183
DOI	10.1145/73833.73854
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	1989-06-05
Publisher Place	New York
Access Restriction	Subscribed
Content Type	Text
Resource Type	Article

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Compliant motion in a simple polygon ( SCG '89 )