Title :
View planning for mobile robots
Author_Institution :
Dept. of Comput. Sci., Memorial Univ. of Newfoundland, St. John´´s, Nfld., Canada
Abstract :
Two O(N log N) heuristic approaches for planning viewpoints in 2D known environments are described. Both are based on the generalized Delaunay triangulation of a polygon with holes. The main difference between them is the heuristic strategies used to merge the triangles to form the partitioning or covering star polygons. When the environment needs to be explored, an O(N2 log N) heuristic scheme which successively selects the viewpoints and views for mobile robots is used. Upper bounds on the number of planned viewpoints and views for each scheme are estimated
Keywords :
computational complexity; computer vision; heuristic programming; mobile robots; O(N log N) heuristic approaches; O(N2 log N) heuristic scheme; covering star polygons; generalized Delaunay triangulation; known environments; partitioning; upper bounds; view planning; viewpoints; Computational geometry; Computer science; Decision making; Mobile robots; Navigation; Orbital robotics; Partitioning algorithms; Robot sensing systems; Sensor phenomena and characterization; Upper bound;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126076
