Solving the Find-Path Problem by Representing Free Space as Generalized Cones
Free space is represented as a union of (possibly overlapping) generalized cones. An algorithm is presented which efficiently finds good collision free paths for convex polygonal bodies through space littered with obstacle polygons. The paths are good in the sense that the distance of closest...
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| Idioma: | en_US |
| Publicado em: |
2004
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| Acesso em linha: | http://hdl.handle.net/1721.1/5670 |