A "retraction" method for planning the motion of a disc

Colm Ó'Dúnlaing, Chee K. Yap

Research output: Contribution to journalArticle

Abstract

A new approach to certain motion-planning problems in robotics is introduced. This approach is based on the use of a generalized Voronoi diagram, and reduces the search for a collision-free continuous motion to a search for a connected path along the edges of such a diagram. This approach yields an O(n log n) algorithm for planning an obstacle-avoiding motion of a single circular disc amid polygonal obstacles. Later papers will show that extensions of the approach can solve other motion-planning problems, including those of moving a straight line segment or several coordinated discs in the plane amid polygonal obstacles.

Original languageEnglish (US)
Pages (from-to)104-111
Number of pages8
JournalJournal of Algorithms
Volume6
Issue number1
DOIs
StatePublished - 1985

Fingerprint

Retraction
Motion planning
Motion Planning
Planning
Motion
Robotics
Voronoi Diagram
Line segment
Straight Line
Diagram
Collision
Path

ASJC Scopus subject areas

  • Computational Theory and Mathematics
  • Computational Mathematics

Cite this

A "retraction" method for planning the motion of a disc. / Ó'Dúnlaing, Colm; Yap, Chee K.

In: Journal of Algorithms, Vol. 6, No. 1, 1985, p. 104-111.

Research output: Contribution to journalArticle

Ó'Dúnlaing, Colm ; Yap, Chee K. / A "retraction" method for planning the motion of a disc. In: Journal of Algorithms. 1985 ; Vol. 6, No. 1. pp. 104-111.
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