Toward an exact incremental geometric robot motion planner

Michael Barbehenn, Seth Hutchinson

Research output: Contribution to conferencePaper

Abstract

In this paper we introduce a new class of geometric robot motion planning problems that we call incremental problems. We also introduce the concept of incremental algorithms to solve this class of problems. As an example, we describe an incremental critical curve based exact cell decomposition algorithm for a line segment robot moving freely amidst polygonal obstacles. In the example, after computing an initial representation of the robot's free space, the algorithm maintains the representation as obstacles are moved between planning problems. The cost to maintain the representation is expected to be small relative to the cost of its initial construction.

Original languageEnglish (US)
Pages39-44
Number of pages6
StatePublished - Jan 1 1995
EventProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA
Duration: Aug 5 1995Aug 9 1995

Other

OtherProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3)
CityPittsburgh, PA, USA
Period8/5/958/9/95

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Barbehenn, M., & Hutchinson, S. (1995). Toward an exact incremental geometric robot motion planner. 39-44. Paper presented at Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, .