HOW TO MOVE A CHAIR THROUGH A DOOR.

Research output: Contribution to journalArticle

Abstract

The door width of a simple polygon (a chair) is defined and an O(n**2) algorithm for computing its door width is given. It is first shown that all passages of the chair through the door can be reduced to a sequence of certain elementary motions. The technique of constraint analysis in characterizing elementary motions is introduced. The algorithm actually constructs a motion of the chair through a door, and thus is a local expert for planning motion through doors. The algorithm can be extended to more general motion-planning systems in robotics.

Original languageEnglish (US)
Pages (from-to)172-181
Number of pages10
JournalIEEE journal of robotics and automation
VolumeRA-3
Issue number3
StatePublished - Jun 1987

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Motion planning
Robotics

ASJC Scopus subject areas

  • Engineering(all)

Cite this

HOW TO MOVE A CHAIR THROUGH A DOOR. / Yap, Chee.

In: IEEE journal of robotics and automation, Vol. RA-3, No. 3, 06.1987, p. 172-181.

Research output: Contribution to journalArticle

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