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A simple path non-existence algorithm using C-obstacle query

Title
A simple path non-existence algorithm using C-obstacle query
Authors
Zhang L.Kim Y.J.Manocha D.
Ewha Authors
김영준
SCOPUS Author ID
김영준scopus
Issue Date
2008
Journal Title
Springer Tracts in Advanced Robotics
ISSN
1610-7438JCR Link
Citation
vol. 47, pp. 269 - 284
Indexed
SCOPUS scopus
Abstract
We present a simple algorithm to check for path non-existence for a robot among static obstacles. Our algorithm is based on adaptive cell decomposition of configuration space or C-space. We use two basic queries: free cell query, which checks whether a cell in C-space lies entirely inside the free space, and C-obstacle cell query, which checks whether a cell lies entirely inside the C-obstacle region. Our approach reduces the path non-existence problem to checking whether there exists a path through cells that do not belong to the C-obstacle region. We describe simple and efficient algorithms to perform free cell and C-obstacle cell queries using separation distance and generalized penetration depth computations. Our algorithm is simple to implement and we demonstrate its performance on 3 DOF robots. © 2008 Springer-Verlag Berlin Heidelberg.
DOI
10.1007/978-3-540-68405-3_17
ISBN
9783540684046
Appears in Collections:
엘텍공과대학 > 컴퓨터공학과 > Journal papers
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