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When is an obstacle a perfect obstacle?

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3 Author(s)
Mukerjee, A. ; Dept. of Mech. Eng., Indian Inst. of Technol., Kanpur, India ; Sharma, S. ; Agrawal, R.B.

Traditional robot motion planning makes the “perfect obstacle assumption” and divides workspace into perfect obstacles and perfect freespace. A region of the workspace is a perfect obstacle if the cost of traversing it is such that there always exists a more efficient path external to the region. Identifying perfect obstacles helps avoid situations where it may be possible to push aside an obstacle, or climb a hillock, for example. We present a linear-time algorithm for determining perfect obstacles in the convex case, and a genetic algorithms approach in the nonconvex case. When the obstacle is not perfect, we identify a measure of the degree to which it approximates a perfect obstacle. This can be a pre-condition to applying standard motion planning techniques

Published in:

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on  (Volume:3 )

Date of Conference:

21-27 May 1995

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