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Translational motion planning for a convex polyhedron in a 3D polyhedral world using an efficient and new roadmap

Dattasharma, A and Keerthi, SS (1993) Translational motion planning for a convex polyhedron in a 3D polyhedral world using an efficient and new roadmap. In: CCCG. Proceedings of the Fifth Canadian Conference on Computational Geometry, 5-9 Aug. 1993, Waterloo, Ont., Canada, pp. 449-454.

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Official URL: http://dblife.cs.wisc.edu/publication/Translationa...

Abstract

We consider the problem of moving a convex polyhedral object among convex polyhedral obstacles which have pairwise disjoint interiors in three dimensional Euclidean space. We use an augmented Voronoi diagram, which is complete when the free space is bounded, and prove that the size of this diagram is in $O(n^2)$ when the size of the moving object and the number of obstacles are assumed to be constant and n is the total number of faces on the obstacles. We also give an efficient and easy to implement algorithm to construct the roadmap.

Item Type: Conference Paper
Additional Information: Copyright of this article belongs to University of Waterloo.
Keywords: computational complexity;computational geometry;mobile robots;path planning;position control
Department/Centre: Division of Electrical Sciences > Computer Science & Automation (Formerly, School of Automation)
Date Deposited: 09 Jan 2008
Last Modified: 12 Jan 2012 06:33
URI: http://eprints.iisc.ernet.in/id/eprint/11098

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