| 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 | 否 |
| 國別 | TWN |
| 公開徵稿 | |
| 出版型式 | ,紙本 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/60873 ) |
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