DocumentCode
323901
Title
Obstacle distances and visibility for car-like robots moving forward
Author
Laumond, J.P. ; Vendittelli, Marilena
Author_Institution
Lab. d´Autom. et d´Anal. des Syst., CNRS, Toulouse
Volume
1
fYear
1998
fDate
16-20 May 1998
Firstpage
33
Abstract
This paper deals with distance computation between a forward moving car-like robot and polygonal obstacles. We propose efficient geometric algorithms to compute the shortest paths to obstacles. We then derive the “visibility” domain in the presence of obstacles, i.e. the set of positions reachable from a starting configuration, by a collision-free shortest path unaffected by the presence of the obstacles
Keywords
computational geometry; image segmentation; mobile robots; path planning; robot vision; visibility; car-like robots; geometric algorithms; image segmentation; mobile robots; obstacle distances; shortest paths; visibility; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.676247
Filename
676247
Link To Document