By Topic

Motion planning with planar geometric models

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Kim Myung-Soo ; Dept. of Comput. Sci., POSTECH, Pohang, South Korea ; Moon Sang-Ryong ; Lee Kwan-Hee

Algebraic algorithms for collision-avoidance robot motion planning problems with planar geometric models are presented. By decomposing the collision-free space into horizontal vertex visibility cells and connecting these cells into a connectivity graph, the global topological structure of collision-free space is represented. Using the C-space obstacle boundaries and this connectivity graph, exact (nonheuristic) compliant and gross motion paths of planar curved objects moving with a fixed orientation amidst similar obstacles are generated. The gross motion planning algorithm is further, extended (using approximations) to the case of objects moving with both translations and rotations by using the conventional slicing method

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991