Visible Decomposition: Real-Time Path Planning in Large Planar Environments
We describe a method called Visible Decomposition for computing collision-free paths in real time through a planar environment with a large number of obstacles. This method divides space into local visibility graphs, ensuring that all operations are local. The search time is kept low since the numbe...
| Main Authors: | , |
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| Language: | en_US |
| Published: |
2004
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| Subjects: | |
| Online Access: | http://hdl.handle.net/1721.1/5935 |
| _version_ | 1826189918576050176 |
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| author | Maron, Oded Lozano-Perez, Tomas |
| author_facet | Maron, Oded Lozano-Perez, Tomas |
| author_sort | Maron, Oded |
| collection | MIT |
| description | We describe a method called Visible Decomposition for computing collision-free paths in real time through a planar environment with a large number of obstacles. This method divides space into local visibility graphs, ensuring that all operations are local. The search time is kept low since the number of regions is proved to be small. We analyze the computational demands of the algorithm and the quality of the paths it produces. In addition, we show test results on a large simulation testbed. |
| first_indexed | 2024-09-23T08:29:48Z |
| id | mit-1721.1/5935 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T08:29:48Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/59352019-04-09T18:19:46Z Visible Decomposition: Real-Time Path Planning in Large Planar Environments Maron, Oded Lozano-Perez, Tomas AI MIT Artificial Intelligence path planning visibility graph We describe a method called Visible Decomposition for computing collision-free paths in real time through a planar environment with a large number of obstacles. This method divides space into local visibility graphs, ensuring that all operations are local. The search time is kept low since the number of regions is proved to be small. We analyze the computational demands of the algorithm and the quality of the paths it produces. In addition, we show test results on a large simulation testbed. 2004-10-04T14:15:31Z 2004-10-04T14:15:31Z 1998-06-01 AIM-1638 http://hdl.handle.net/1721.1/5935 en_US AIM-1638 17 p. 689951 bytes 641831 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | AI MIT Artificial Intelligence path planning visibility graph Maron, Oded Lozano-Perez, Tomas Visible Decomposition: Real-Time Path Planning in Large Planar Environments |
| title | Visible Decomposition: Real-Time Path Planning in Large Planar Environments |
| title_full | Visible Decomposition: Real-Time Path Planning in Large Planar Environments |
| title_fullStr | Visible Decomposition: Real-Time Path Planning in Large Planar Environments |
| title_full_unstemmed | Visible Decomposition: Real-Time Path Planning in Large Planar Environments |
| title_short | Visible Decomposition: Real-Time Path Planning in Large Planar Environments |
| title_sort | visible decomposition real time path planning in large planar environments |
| topic | AI MIT Artificial Intelligence path planning visibility graph |
| url | http://hdl.handle.net/1721.1/5935 |
| work_keys_str_mv | AT maronoded visibledecompositionrealtimepathplanninginlargeplanarenvironments AT lozanopereztomas visibledecompositionrealtimepathplanninginlargeplanarenvironments |