Abstract
We present an automatic system for planning the (translational and rotational) collision-free motion of a convex polygonal body B in two-dimensional space bounded by a collection of polygonal obstacles. The system consists of a (combinatorial, non-heuristic) motion planning algorithm, based on sophisticated algorithmic and combinatorial techniques in computational geometry, and is implemented on a Cartesian robot system equipped with a 2-D vision system. Our algorithm runs in the worst-case in time O(kn λ6(kn) log kn), where k is the number of sides of B, n is the total number of obstacle edges, and λ6(r) is the (nearly-linear) maximum length of an (r,6) Davenport Schinzel sequence. Our implemented system provides an “intelligent” robot that, using its attached vision system, can acquire a geometric description of the robot and its polygonal environment, and then, given a high-level motion command from the user, can plan a collision-free path (if one exists), and then go ahead and execute that motion.
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Kedem, K., Sharir, M. (1990). An Automatic Motion Planning System for a Convex Polygonal Mobile Robot in 2-Dimensional Polygonal Space. In: Cox, I.J., Wilfong, G.T. (eds) Autonomous Robot Vehicles. Springer, New York, NY. https://doi.org/10.1007/978-1-4613-8997-2_26
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DOI: https://doi.org/10.1007/978-1-4613-8997-2_26
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