Title :
On the moving-obstacle path-planning algorithm of Shih, Lee, and Gruver
Author :
Conn, Robert A. ; Kam, Moshe
Author_Institution :
Data Fusion Lab., Drexel Univ., Philadelphia, PA, USA
fDate :
2/1/1997 12:00:00 AM
Abstract :
We analyze a motion planning algorithm proposed by Shih, Lee, and Gruver (1990). In particular, we discuss the case of motion planning among moving obstacles, for which an algorithm is presented by Shih, Lee, and Gruver (1990). The algorithm is claimed to always yield a collision-free path when one exists. We provide a specific counter-example to this claim, examine the possibility of repairing the algorithm, and discuss the computational complexity of a corrected algorithm
Keywords :
computational complexity; mobile robots; path planning; position control; velocity control; collision-free path; computational complexity; corrected algorithm; mobile robot; motion planning algorithm; moving obstacle path planning algorithm; velocity; Algorithm design and analysis; Computational complexity; Motion analysis; Motion planning; Orbital robotics; Path planning; Piecewise linear techniques; Robot control; Topology; Velocity control;
Journal_Title :
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
DOI :
10.1109/3477.552194
