Cart (Loading....) | Create Account
Close category search window
 

An approximate algorithm for solving shortest path problems for mobile robots or driver assistance

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
$31 $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)
Fajie Li ; Coll. of Comput. Sci. & Technol., Huaqiao Univ., Quanzhou, China ; Klette, R. ; Morales, S.

Finding a shortest path between two given locations is of importance for mobile robots, but also (e.g.) for identifying unique paths in a given surrounding region Pi when (e.g.) evaluating vision software in test vehicles, or for calculating the free-space boundary in vision-based driver assistance. We assume that Pi is given as a triangulated surface which is not necessary simply connected.Based on a known k-shortest paths algorithm and a decomposition of the surrounding region Pi , this article presents an approximate algorithm for computing a general Euclidean shortest path (ESP) between two points p and q on Pi , with time complexity k(epsiv)-O(k - |V(Pi)|) and additional preprocessing in time O(k - |V(Pi)| - log |V(Pi)|). Our algorithm is suitable for approximately solving the 2D ESP problem, the 2.5 ESP problem (i.e., the surface ESP problem, as occurring, for example, in the free-space border application), and even the 3D ESP problem which is thought to be difficult even in the most basic case if all the obstacles are just convex, or if Pi is just simply connected.

Published in:

Intelligent Vehicles Symposium, 2009 IEEE

Date of Conference:

3-5 June 2009

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.