Obstacle distances and visibility for car-like robots moving forward

被引：0
|
作者：
Laumond, JP [1 ]
Nissoux, C [1 ]
Vendittelli, M [1 ]
机构：
[1] CNRS, LAAS, F-31077 Toulouse, France
来源：
1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 | 1998年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper deals with distance computation between a car-like robot moving only forward and polygonal obstacles. We propose efficient geometric algorithms to compute the shortest paths to obstacles. We then deprive the "visibility" domain in, the presence of obstacles, i.e. the set of positions reachable from a starting configuration, by a collision-free shortest path unaffected by the presence of the obstacles.
引用
收藏
页码：33 / 39
页数：3
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