A Near-Quadratic Algorithm for Planning the Motion of a Polygon in a Polygonal Environment
نویسندگان
چکیده
We consider the problem of planning the motion of an arbitrary k-sided polygonal robot B, free to translate and rotate in a polygonal environment V bounded by n edges. We present an algorithm that constructs a single component of the free connguration space of B in time O((kn) 2+"), for any " > 0. This algorithm, combined with some standard techniques in motion planning, yields a solution to the underlying motion planning problem, within the same running time.
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ورودعنوان ژورنال:
- Discrete & Computational Geometry
دوره 16 شماره
صفحات -
تاریخ انتشار 1996