An efficient and simple motion planning algorithm for a ladder amidst polygonal barriers

Daniel Leven, Micha Sharir

Research output: Contribution to journalArticlepeer-review

Abstract

We present a relatively simple motion-planning algorithm for a line segment (a "ladder") moving in 2-dimensional space amidst polygonal obstacles. The algorithm runs in time O(n2log n), where n is the number of obstacle corners, and is shown to be close to optimal. The algorithm is an optimized variant of the decomposition technique of the configuration space of the ladder, due to Schwartz and Sharir (Comm. Pure Appl. Math.36 (1983), 345-398; Advan. Appl. Math.4 (1983), 298-351; Robotics Res.2(3) (1983), 46-75). The optimizing approach used in our algorithm may be exploited to improve the efficiency of existing motion-planning algorithms for other more complex robot systems.

Original languageEnglish
Pages (from-to)192-215
Number of pages24
JournalJournal of Algorithms
Volume8
Issue number2
DOIs
StatePublished - Jun 1987

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