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Finding the shortest path of a disc among polygonal obstacles using a radius-independent graph

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2 Author(s)
Yun-Hui Liu ; Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Shatin, Hong Kong ; Arimoto, S.

An algorithm for finding the shortest path of a disc among a set of polygonal obstacles is presented. Let Nt denote the total number of obstacle vertices and Nc the number of convex vertices. Our algorithm uses a radius-independent data structure called extended tangent graph (ETG) which registers collision-free tangents of the obstacles according to different discs and takes O(Nc2) space. The ETG depends only on original obstacles, and it is constructed in advance without using any information about the disc in O((Nc+k)Nt) computation time, where k is the number of outer common tangents of the obstacles. It takes O(NtlogNt) time to partially update the ETG to reflect the start and goal of a given disc. The shortest path is planned by a graph-search algorithm

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Robotics and Automation, IEEE Transactions on  (Volume:11 ,  Issue: 5 )