教師資料查詢 | 類別: 期刊論文 | 教師: 簡丞志 CHENG-CHIH CHIEN (瀏覽個人網頁)

標題:A fast path planning algorithm for piano mover's problem on raster
學年93
學期2
出版(發表)日期2005/07/01
作品名稱A fast path planning algorithm for piano mover's problem on raster
作品名稱(其他語言)
著者簡丞志; Chien, Cheng-chih
單位淡江大學電機工程學系
出版者
著錄名稱、卷期、頁數Engineering Village 1, pp.522-527
摘要This article presents the near-optimal path-planning algorithm for piano mover's problem of robot motion among obstacles on raster. Beginning with a top view of a workspace arrangement among obstacles, the so-called free workspace is first obtained by virtually expanding the obstacles. The proposed method adopts virtual obstacle domain and collision avoidance scheme based on the higher geometry maze routing algorithm with all the possible directions to find the near-optimal path from the source position to the destination position. The time complexity of this method is O(RradicN) in average or O(RN) for the worst case, where N and R are the numbers of cells in the free workspace and the detection circle with the radius of VR1 as its collision-detection domain, respectively, R
關鍵字Path planning;Motion planning;Mobile robots;Computer science;Oceans;Computational geometry;Sun;Robot motion;Collision avoidance;Routing
語言英文(美國)
ISSN
期刊性質國內
收錄於
產學合作
通訊作者
審稿制度
國別中華民國
公開徵稿
出版型式,紙本
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