Title :
Shortest path planning in discretized workspaces using dominance relation
Author :
Jun, Sungtaeg ; Shin, Kang G.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
fDate :
6/1/1991 12:00:00 AM
Abstract :
A method of partitioning a workspace using rectilinear visibility in 3-D or higher space is presented. Unlike the case of 2-D space where the shape of a partition is a rectangle, the shape of a partition in 3-D or higher space is arbitrary. The existence of dominance relations between the partitioned regions is proven. This relation is then utilized to efficiently solve the shortest path planning problem in 3-D or higher space
Keywords :
computational geometry; optimisation; production control; 3D space; computational geometry; dominance relation; optimisation; shortest path planning; workspace partitioning; Application software; Computer networks; Costs; Manipulators; Mobile robots; Path planning; Remotely operated vehicles; Routing; Shape; Very large scale integration;
Journal_Title :
Robotics and Automation, IEEE Transactions on
