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.
Obstacle distances and visibility for car-like robots moving forward / Laumond, J. P.; Nissoux, C; Vendittelli, Marilena. - (1998), pp. 33-39. (Intervento presentato al convegno IEEE International Conference on Robotics and Automation tenutosi a Leuven, B) [10.1109/ROBOT.1998.676247].
Obstacle distances and visibility for car-like robots moving forward
VENDITTELLI, Marilena
1998
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
