Shortest Paths to Obstacles for a Polygonal Dubins Car
نویسندگان
چکیده
منابع مشابه
Shortest paths to obstacles for a polygonal car-like robot
This paper shows how to compute the nonholonomic distance between a car-like robot of polygonal shape and polygonal obstacles. Adopting an optimal control point of view, we use transversality conditions to get information about the structure of paths that are admissible solutions. With this information, the problem of minimizing the length of a path that is, in general, function of three parame...
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Given a point s and a set of h pairwise disjoint polygonal obstacles of totally n vertices in the plane, we present a new algorithm for building an L1 shortest path map of size O(n) in O(T ) time and O(n) space such that for any query point t, the length of the L1 shortest obstacleavoiding path from s to t can be reported in O(log n) time and the actual shortest path can be found in additional ...
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Given a set of non-intersecting simple polygons, a set of points in the plane, and a set of xed orientations, we compute a graph such that for any two input points there exists a shortest path in G whose length equals the length of a shortest path between these points in the plane that does not intersect any polygon and that consists only of line segments of the given orientations. This graph m...
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Given a set of h pairwise disjoint polygonal obstacles of totally n vertices in the plane, we study the problem of computing an L1 (or rectilinear) shortest path between two points avoiding the obstacles. Previously, this problem has been solved in O(n log n) time and O(n) space, or alternatively in O(n + h log n) time and O(n + h log h) space. A lower bound of Ω(n + h log h) time and Ω(n) spac...
متن کاملShortest Paths of Bounded Curvature for the Dubins Interval Problem
The Dubins interval problem aims to find the shortest path of bounded curvature between two targets such that the departure angle from the first target and the arrival angle at the second target are constrained to two respective intervals. We propose a new and a simple algorithm to this problem based on the minimum principle of Pontryagin.
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2009
ISSN: 1552-3098,1941-0468
DOI: 10.1109/tro.2008.2011421