By Topic

Path planning in the presence of vertical obstacles

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)
Gewali, L.P. ; Dept. of Comput. Sci., Nevada Univ., Las Vegas, NV, USA ; Ntafos, S. ; Tollis, I.G.

Consideration is given to the problem of finding a shortest path between two points in 3-D space with a restricted class of polyhedral obstacles (vertical buildings with a fixed number k of distinct heights). For the case when all the obstacles have equal heights, a shortest-path algorithm is presented with complexity O(n 2), i.e. the same complexity as for the 2-D case (n is the total number of corners in all the obstacles). For the general case (k distinct heights), an algorithm is presented for finding a shortest path in time O(n6k-1). Also presented is an O( n2) approximation algorithm that finds paths that are, at most, 8% longer than the shortest path for the case of k distinct heights when certain minimum separation requirements are satisfied, and a description is given of how the approximation algorithm can be extended to the general case (arbitrary separations)

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:6 ,  Issue: 3 )