PLANNING A TIME-MINIMAL MOTION AMONG MOVING OBSTACLES

被引：27
|
作者：
FUJIMURA, K
SAMET, H
机构：
[1] UNIV MARYLAND,DEPT COMP SCI,COLL PK,MD 20742
[2] UNIV MARYLAND,CTR AUTOMAT RES,COLL PK,MD 20742
[3] UNIV MARYLAND,INST ADV COMP STUDIES,COLL PK,MD 20742
来源：
ALGORITHMICA | 1993年 / 10卷 / 01期
关键词：
TIME-VARYING ENVIRONMENTS; VISIBILITY GRAPHS; ACCESSIBILITY GRAPHS; MOTION PLANNING;
D O I：
10.1007/BF01908631
中图分类号：
TP31 [计算机软件];
学科分类号：
081202 ; 0835 ;
摘要：
Motion planning for a point robot is studied in a time-varying environment. Each obstacle is a convex polygon that moves in a fixed direction at a constant speed. The point to be reached (referred to as the destination point) also moves along a known trajectory. The concept of ''accessibility'' from a point to a moving object is introduced, and is used to define a graph on a set of moving obstacles. If the point robot is able to move faster than any of the obstacles, then the graph exhibits an important property: a time-minimal motion is given as a sequence of edges in the graph. An algorithm is described for generating a time-minimal motion and its execution time is analyzed.
引用
收藏
页码：41 / 63
页数：23
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