Efficient motion planning for an l-shaped object

Dan Halperin, Mark H. Overmars

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


We present an algorithm that solves the following motionplanning problem. Given an L-shaped body L and a 2-dimensional region with R point obstacles, decide whether there is a continuous motion connecting two given positions and orientations of L during which L avoids collision with the obstacles. The algorithm requires O(n2 log n) time and O(n2) storage. The algorithm is a variant of the cell-decomposition technique of the configuration space ([SS, LS]) but it employs a new and efficient technique for obtaining a compact representation of the free space, which results in a saving of an order of magnitude. The approach used in our algorithm seems applicable to motion-planning of certain robotic arms whose spaces of free placements have a structure similar to that of the L-shaped body.

Original languageEnglish
Title of host publicationProceedings of the 5th Annual Symposium on Computational Geometry, SCG 1989
PublisherAssociation for Computing Machinery
Number of pages11
ISBN (Electronic)0897913183
StatePublished - 5 Jun 1989
Event5th Annual Symposium on Computational Geometry, SCG 1989 - Saarbruchen, Germany
Duration: 5 Jun 19897 Jun 1989

Publication series

NameProceedings of the Annual Symposium on Computational Geometry
VolumePart F130124


Conference5th Annual Symposium on Computational Geometry, SCG 1989


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