Planning near-optimal corridors amidst obstacles

Ron Wein, Jur Van Den Berg, Dan Halperin

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

Abstract

Planning corridors among obstacles has arisen as a central problem in game design. Instead of devising a one-dimensional motion path for a moving entity, it is possible to let it move in a corridor, where the exact motion path is determined by a local planner. In this paper we introduce a quantitative measure for the quality of such corridors. We analyze the structure of optimal corridors amidst point obstacles and polygonal obstacles in the plane, and propose an algorithm to compute approximations for optimal corridors according to our measure.

Original languageEnglish
Title of host publicationAlgorithmic Foundation of Robotics VII - Selected Contributions of the Seventh International Workshop on the Algorithmic Foundations of Robotics
PublisherSpringer Verlag
Pages491-506
Number of pages16
ISBN (Print)9783540684046
DOIs
StatePublished - 2008
Event7th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2006 - New York, NY, United States
Duration: 16 Jul 200618 Jul 2006

Publication series

NameSpringer Tracts in Advanced Robotics
Volume47
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Conference

Conference7th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2006
Country/TerritoryUnited States
CityNew York, NY
Period16/07/0618/07/06

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