NDLI: A fast path planning algorithm for piano mover's problem on raster

Content Provider	IEEE Xplore Digital Library
Author	Gene Eu Jan Tong-Ying Juang Jun-Da Huang Chien-Min Su Chih-Yung Cheng
Copyright Year	2005
Description	Author affiliation: Dept. of Comput. Sci., Nat. Taipei Univ. (Gene Eu Jan; Tong-Ying Juang)
Abstract	This article presents the near-optimal path-planning algorithm for piano mover's problem of robot motion among obstacles on raster. Beginning with a top view of a workspace arrangement among obstacles, the so-called free workspace is first obtained by virtually expanding the obstacles. The proposed method adopts virtual obstacle domain and collision avoidance scheme based on the higher geometry maze routing algorithm with all the possible directions to find the near-optimal path from the source position to the destination position. The time complexity of this method is O(RradicN) in average or O(RN) for the worst case, where N and R are the numbers of cells in the free workspace and the detection circle with the radius of $VR_{1}$ as its collision-detection domain, respectively, R<N. The obtained path is the near-optimal path, which some cells can be revisited as the piano mover's problem, with no collisions between the robot and the obstacles
Starting Page	522
Ending Page	527
File Size	310039
Page Count	6
File Format	PDF
ISBN	0780390474
DOI	10.1109/AIM.2005.1511035
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-07-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Motion planning Mobile robots Computer science Oceans Computational geometry Sun Robot motion Collision avoidance Routing
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in