Shortest path planning for a tethered robot

Shortest Path Planning for a Tethered Robot or an Anchored Cable

We consider the problem of planning shortest paths for a tethered robot with a finite length tether in a 2D environment with polygonal obstacles. We present an algorithm that runs in time O((kl +l)2rL4) and finds the shortest path or correctly determines that none exists that obeys the constraints;here n is the numberobstaclevertices,and kl is the numberloops in the initial configurationof the ...

An Improved Algorithm in Shortest Path Planning for a Tethered Robot

There is vast amount of literature focusing on motion planning for general robots. However, the same studies for tethered robots have not been investigated much. While a robot navigates in an environment with obstacles, it may meet some problems, such as a lack of power supply, or losing its wireless communication connection. If a robot is attached to a flexible tether, it can obtain sufficient...

Approximation Algorithms for Shortest Path Motion Planning

This paper gives approximation algorithms for solving the following motion planning problem: Given a set of polyhedral obstacles and points s and t, find a shortest path from s to t that avoids the obstacles. The paths found by the algorithms are piecewise linear, and the length of a path is the sum of the lengths of the line segments making up the path. Approximation algorithms will be given f...

Direction Weighted Shortest Path Planning

Velocity Planning for a Robot Moving along the Shortest Straight Line Path Among Moving Obstacles