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Eecient Motion Planning for an L-shaped Object
| Content Provider | Semantic Scholar |
|---|---|
| Author | Overmars, Mark H. Sharir, Micha |
| Copyright Year | 1997 |
| Abstract | We present an algorithm that solves the following motion-planning problem. Given an L-shaped body L and a 2-dimensional region with n point obstacles, decide whether there is a continuous motion connecting two given positions and orientations of L during which L avoids collision with the obstacles. The algorithm requires O(n 2 log 2 n) time and O(n 2) storage. The algorithm is a variant of the cell-decomposition technique of the connguration space ((SS, LS]) but it employs a new and eecient technique for obtaining a compact representation of the free space, which results in a saving of nearly an order of magnitude. The approach used in our algorithm is also applicable to motion-planning of certain robotic arms whose spaces of free placements have a structure similar to that of the L-shaped body. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www.math.tau.ac.il/~halperin/papers/l-shaped.ps.gz |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
