TY - GEN
T1 - A new efficient motion-planning algorithm for a rod in polygonal space
AU - Sifrony, S.
AU - Sharir, Micha
N1 - Publisher Copyright:
© 1986 ACM.
PY - 1986/8/1
Y1 - 1986/8/1
N2 - We present here a new and efficient algorithm for planning collision-free motion of a rod in the plane amidst polygonal obstacles. The algorithm calculates the boundary of the space of free positions of the rod, and then uses this boundary for determining the existence of required motions. The algorithm runs in time O(K log n) where n is the number of obstacle corners and where K is the total number of pairs of obstacle walls or corners lying from one another at distance less than or equal to the length of the rod. Since K=O(n2), the algorithm has the same worst-case complexity as the best previously developed algorithm of Leven and Sharir [LSI], but if the obstacles are not too cluttered together it will run much more efficiently.
AB - We present here a new and efficient algorithm for planning collision-free motion of a rod in the plane amidst polygonal obstacles. The algorithm calculates the boundary of the space of free positions of the rod, and then uses this boundary for determining the existence of required motions. The algorithm runs in time O(K log n) where n is the number of obstacle corners and where K is the total number of pairs of obstacle walls or corners lying from one another at distance less than or equal to the length of the rod. Since K=O(n2), the algorithm has the same worst-case complexity as the best previously developed algorithm of Leven and Sharir [LSI], but if the obstacles are not too cluttered together it will run much more efficiently.
UR - http://www.scopus.com/inward/record.url?scp=27644569329&partnerID=8YFLogxK
U2 - 10.1145/10515.10535
DO - 10.1145/10515.10535
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AN - SCOPUS:27644569329
T3 - Proceedings of the 2nd Annual Symposium on Computational Geometry, SCG 1986
SP - 178
EP - 186
BT - Proceedings of the 2nd Annual Symposium on Computational Geometry, SCG 1986
PB - Association for Computing Machinery, Inc
T2 - 2nd Annual Symposium on Computational Geometry, SCG 1986
Y2 - 2 June 1986 through 4 June 1986
ER -