DocumentCode :
2093933
Title :
Path planning above a polyhedral terrain
Author :
Zarrabi-Zadeh, Hamid
Author_Institution :
Sch. of Comput. Sci., Waterloo Univ., Ont.
fYear :
2006
fDate :
15-19 May 2006
Firstpage :
873
Lastpage :
876
Abstract :
We consider the problem of path planning above a polyhedral terrain and present a new algorithm that for any p ges 1, computes a (c + epsi)-approximation to the Lp-shortest path above a polyhedral terrain in O(n/epsi log n log log n) time and O(n log n) space, where n is the number of vertices of the terrain, and c = 2(p-1)p/. This leads to an epsi-approximation algorithm for the problem in L1 metric, and a (radic2 + epsi)-factor approximation algorithm in Euclidean space
Keywords :
approximation theory; computational complexity; path planning; robots; Euclidean space; approximation algorithm; path planning; polyhedral terrain; Approximation algorithms; Computer science; Euclidean distance; Extraterrestrial measurements; Motion planning; Path planning; Robot motion; Shortest path problem;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
ISSN :
1050-4729
Print_ISBN :
0-7803-9505-0
Type :
conf
DOI :
10.1109/ROBOT.2006.1641819
Filename :
1641819
Link To Document :
https://search.ricest.ac.ir/dl/search/defaultta.aspx?DTC=49&DC=2093933
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