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<N. The obtained path is the near-optimal path, which some cells can be revisited as the piano mover's problem, with no collisions between the robot and the obstacles
關鍵字 Path planning;Motion planning;Mobile robots;Computer science;Oceans;Computational geometry;Sun;Robot motion;Collision avoidance;Routing
語言 en_US
ISSN
期刊性質 國內
收錄於
產學合作
通訊作者
審稿制度
國別 TWN
公開徵稿
出版型式 ,紙本
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