DocumentCode
2804156
Title
Optimal obstacle growing in motion planning for mobile robots
Author
Pignon, Philippe ; Hasegawa, Tsutomu ; Laumond, Jean-Paul
Author_Institution
Electrotech. Lab., Ibaraki, Japan
fYear
1991
fDate
3-5 Nov 1991
Firstpage
602
Abstract
Deals with methods using approximate cells decomposition of the configuration space in path planning for mobile robots in the plane. It is shown that optimal decomposition can be attained in the case of a polygonal robot amidst convex polygonal obstacles by choosing as reference point the center of the ring of minimal surface enclosing the robot, and gives as main result the position of this reference point
Keywords
mobile robots; planning (artificial intelligence); approximate cells decomposition; configuration space; convex polygonal obstacles; mobile robots; motion planning; optimal decomposition; optimal obstacle growing; path planning; polygonal robot; Joining processes; Laboratories; Mobile robots; Motion planning; Orbital robotics; Path planning; Shape; Stacking;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location
Osaka
Print_ISBN
0-7803-0067-X
Type
conf
DOI
10.1109/IROS.1991.174542
Filename
174542
Link To Document