ISSN:
1432-0541
Keywords:
Time-varying environments
;
Visibility graphs
;
Accessibility graphs
;
Motion planning
Source:
Springer Online Journal Archives 1860-2000
Topics:
Computer Science
,
Mathematics
Notes:
Abstract 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.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/BF01908631
