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When is an obstacle a perfect
obstacle
Mukerjee,
A. Sharma,
S. Agrawal,
R.B.
Dept. of
Mech. Eng., Indian Inst. of Technol., Kanpur;
This paper appears in: Robotics
and Automation, IEEE Transactions on
On page(s): 497-503
Volume: 14, Jun 1998
ISSN: 1042-296X
CODEN: IRAUEZ
INSPEC Accession Number: 5936903
Abstract:
Owing to the exponential costs of path
planning in a continuous or graded cost environment, robot
motion planning traditionally makes the “perfect obstacle
assumption” and divides workspace into perfect obstacles and
perfect freespace, although in practice such a black-and-white
distinction is rare. Under the above definition, however, many
finite cost regions can also be shown to be perfect,
substantially reducing the computational costs. We present a
linear-time algorithm for deciding whether an obstacle is
perfect in the convex case, and a genetic algorithms approach
in the nonconvex case. When the obstacle is not perfect, we
identify a measure of the degree to which it approximates a
perfect obstacle. Identifying perfect obstacles helps avoid
situations where it may be possible to push aside an obstacle,
or climb a hillock, for example
Index Terms:
computational
geometry genetic
algorithms mobile
robots navigation object
recognition path
planning
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[Abstract] [PDF
Full-Text (1252KB)]
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