Abstract
A polygon with two distinguished vertices, s and g, is called a street iff the two boundary chains from s to g are mutually weakly visible. For a mobile robot with on-board vision system we describe a strategy for finding a short path from s to g in a street not known in advance, and prove that the length of the path created does not exceed 1+3/2π times the length of the shortest path from s to g. Experiments suggest that our strategy is much better than this, as no ratio bigger than 1.8 has yet been observed. This is complemented by a lower bound of 1.41 for the relative detour each strategy can be forced to generate.
This work was partially supported by the Deutsche Forschungsgemeinschaft, grant Kl-655, 2–1.
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© 1991 Springer-Verlag Berlin Heidelberg
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Klein, R. (1991). Moving along a street (extended abstract). In: Bieri, H., Noltemeier, H. (eds) Computational Geometry-Methods, Algorithms and Applications. CG 1991. Lecture Notes in Computer Science, vol 553. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-54891-2_10
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DOI: https://doi.org/10.1007/3-540-54891-2_10
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