The Find-Path Problem in the Plane
This paper presents a fast heuristic algorithm for planning collision-free paths of a moving robot in a cluttered planar workspace. The algorithm is based on describing the free space between the obstacles as a network of linked cones. Cones capture the freeways and the bottle-necks between th...
| Main Authors: | , |
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| Language: | en_US |
| Published: |
2004
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| Online Access: | http://hdl.handle.net/1721.1/5632 |