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Motion planning in a dynamic domain

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2 Author(s)
Fujimura, K. ; Oak Ridge Nat. Lab., TN, USA ; Samet, H.

Motion planning is studied in a time-varying environment. Each obstacle is a convex polygon that moves in a fixed direction at a constant speed. The robot is a convex polygon that is subject to a speed bound. A method of determining whether or not there is a translational collision-free motion for a polygonal robot from an initial position to a final position and of planning such a motion, if it exists, is presented. The method makes use of the concept of configuration spaces and accessibility. An algorithm is given for motion planning in such an environment, and its time complexity is analyzed

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990