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Efficient cell labelling and path non-existence computation using C-obstacle query

Title
Efficient cell labelling and path non-existence computation using C-obstacle query
Authors
Zhang L.Kim Y.J.Manocha D.
Ewha Authors
김영준
SCOPUS Author ID
김영준scopus
Issue Date
2008
Journal Title
International Journal of Robotics Research
ISSN
0278-3649JCR Link
Citation
vol. 27, no. 41590, pp. 1246 - 1257
Indexed
SCI; SCIE; SCOPUS WOS scopus
Abstract
We present a simple algorithm to check for path non-existence for a low-degree-of-freedom (DOF) robot among static obstacles. Our algorithm is based on approximate cell decomposition of configuration space or C-space. We use C-obstacle cell query to check whether a cell lies entirely inside the C-obstacle region. This reduces the path non-existence problem to checking whether a path exists through the set of all cells that do not lie entirely inside the C-obstacle region. We present a simple and efficient algorithm to perform C-obstacle cell query using generalized penetration depth computation. Our algorithm is simple to implement and we demonstrate its performance on three-DOF and four-DOF robots. © 2008 SAGE Publications.
DOI
10.1177/0278364908099216
Appears in Collections:
엘텍공과대학 > 컴퓨터공학과 > Journal papers
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