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

页码：129 / 137

页数：9

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