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IJRR
2008

Planning High-quality Paths and Corridors Amidst Obstacles

14 years 4 days ago
Planning High-quality Paths and Corridors Amidst Obstacles
The motion-planning problem, involving the computation of a collision-free path for a moving entity amidst obstacles, is a central problem in fields like Robotics and Game Design. In this paper we study the problem of planning high-quality paths. A high-quality path should have some desirable properties: it should be short and avoid long detours, and at the same time it should stay at a safe distance from the obstacles, namely it should have clearance. We suggest a quality measure for paths, which balances between the above criteria of minimizing the path length while maximizing its clearance. We analyze the properties of optimal paths according to our measure, and devise an approximation algorithm to compute near-optimal paths amidst polygonal obstacles in the plane. We also apply our quality measure to corridors. Instead of planning a one-dimensional motion path for a moving entity, it often more convenient to let it move in a corridor, where the exact motion path is determined by a...
Ron Wein, Jur P. van den Berg, Dan Halperin
Added 12 Dec 2010
Updated 12 Dec 2010
Type Journal
Year 2008
Where IJRR
Authors Ron Wein, Jur P. van den Berg, Dan Halperin
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