AN EFFICIENT ALGORITHM FOR FINDING A COLLISION-FREE PATH AMONG POLYHEDRAL OBSTACLES

被引：8
|
作者：
FU, LC
LIU, DY
机构：
[1] Department of Computer Science and Information Engineering, National Taiwan University, Taipei
来源：
JOURNAL OF ROBOTIC SYSTEMS | 1990年 / 7卷 / 01期
关键词：
D O I：
10.1002/rob.4620070107
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The use of graph search algorithms on a so called “visibility graph” is a common approach to finding a minimum‐distance collision‐free path among polyhedral obstacles in a 2D environment. Complexity of the search can be greatly reduced by reducing the size of the graph. The focus of this article is to provide an algorithm aimed at constructing a subvisibility graph using only “necessary” obstacles, i.e., excluding as many obstacles as possible whose vertices are never via points of the shortest collision‐free path. Copyright © 1990 Wiley Periodicals, Inc., A Wiley Company
引用
收藏
页码：129 / 137
页数：9
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