An automatic motion planning system for a convex polygonal mobile robot in 2-D polygonal space

Klara Kedem, Micha Sharir

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

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(knλ6(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.

Original languageEnglish
Title of host publicationProceedings of the 4th Annual Symposium on Computational Geometry, SCG 1988
PublisherAssociation for Computing Machinery, Inc
Pages329-340
Number of pages12
ISBN (Electronic)0897912705, 9780897912709
DOIs
StatePublished - 6 Jan 1988
Event4th Annual Symposium on Computational Geometry, SCG 1988 - Urbana-Champaign, United States
Duration: 6 Jun 19888 Jun 1988

Publication series

NameProceedings of the 4th Annual Symposium on Computational Geometry, SCG 1988

Conference

Conference4th Annual Symposium on Computational Geometry, SCG 1988
Country/TerritoryUnited States
CityUrbana-Champaign
Period6/06/888/06/88

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