Shortest Paths in Euclidean Space with Polyhedral Obstacles.
Abstract
This document considers the problem of finding a minimum length path between two points in Euclidean space which avoids a set (not necessarily convex) polyhedral obstacles; we let n denote the number of the obstacle edges and k denote the number of islands in the obstacle space. For two dimensions, an island is defined to be a maximal convex obstacle surface such that for any two points contained in the interior of the island, a minimal length path between these two points is strictly contained in the interior of the island; for example, a set of i disconnected convex polyhedra forms a set of i islands, however, a single non-convex polyhedron will constitute more than one island. Keywords: Mover's problem; robotics motion planning.
Document Details
- Document Type
- Technical Report
- Publication Date
- Apr 01, 1985
- Accession Number
- ADA161599
Entities
People
- James A. Storer
- John Reif
Organizations
- Harvard University