EFFICIENT ALGORITHMS FOR PLANNING PURELY TRANSLATIONAL COLLISION-FREE MOTION IN TWO AND THREE DIMENSIONS.

Micha Sharir*

*Corresponding author for this work

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

Abstract

Results are presented of the design and analysis of efficient algorithms for planning purely translational collision-free motion of rigid objects moving in two- or three-dimensional space amidst a collection of obstacles whose geometry is known to the system. Motion-planning problems of this kind are particularly favorable because they involve only two or three (translational) degrees of freedom, and because they do not have to consider rotational degrees of freedom, which tend to make the structure of the free configuration space of the moving system more complex to analyze. Besides obvious applications for mobile (or flying) autonomous systems, these problems are significant for two reasons: First they constitute the simplest of all motion-planning problems, so careful analysis of their complexity is called for before moving to more difficult and complex problems. Second, these translational problems often arise as subtasks in motion-planning algorithms for systems with additional rotational degrees of freedom.

Original languageEnglish
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages1326-1331
Number of pages6
ISBN (Print)0818607874
StatePublished - 1987

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