Triangulation-based path planning for a mobile robot

Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

Volumn 211, Issue 5, 1997, Pages 365-371

  Seneviratne, L D ^a   Ko, W S ^a   Earles, S W E ^a  

^a KING'S COLLEGE LONDON   (United Kingdom)

Author keywords

Collision avoidance; Exact cell decomposition; Path planning; Robot navigation; Triangulation

Indexed keywords

ALGORITHMS; COLLISION AVOIDANCE; MOBILE ROBOTS; NAVIGATION;

EXACT CELL DECOMPOSITION; TRIANGULATION;

MOTION PLANNING;

EID: 0031352278     PISSN: 09544062     EISSN: None     Source Type: Journal    
DOI: 10.1243/0954406971522114     Document Type: Article

References (27)

1. Schwartz, J. T. and Sharir, M. On the 'piano movers' problem I. The case of a two-dimensional rigid polygonal body moving amidst polygonal barriers. Commun. Pure and Appl. Mathematics, 1983, XXXVI, 345-398.
2. Chen, C.-X., Trivedi, M. M. and Bidlack, C. R. Simulation and animation of sensor-driven robots. IEEE Trans. Robotics and Antomn, October 1994, 10(5), 684-704.
3. Bhanu, B., Faugeras, O., Sridhar, B. and Thorpe, C. E. Introduction to the special section on perception-based real-world navigation. IEEE Trans. Robotics and Automn, December 1994, 10(6), 725-727.
4. Slack, M. G. Navigation templates: mediating qualitative guidance and quantitative control in mobile robots. IEEE Trans. Systems, Man, and Cybernetics, March-April 1993, 23(2), 452-466.
5. Spence, R. and Hutchinson, S. An integrated architecture for robot motion planning and control in the presence of obstacles with unknown trajectories. IEEE Trans. Systems, Man, and Cybernetics, January 1995, 25(1), 100-110.
6. Hwang, Y. K. and Ahuja, N. A potential field approach to path planning. IEEE Trans. Robotics and Automn, February 1992, 8(1), 23-32.
7. Lengyle, J., Reichert, M., Donald, B. R. and Greenberg, D. P. Real-time robot motion planning using rasterizing computer graphics hardware. Computer Graphics, August 1990, 24(4), 327-335.
8. Lozano-Perez, T. and Wesley, M. A. An algorithm for planning collision-free paths among polyhedral obstacles. Commun. ACM, October 1979, 22(10), 560-570.
9. Lozano-Perez, T. Spatial planning: a configuration space approach. IEEE Trans. Computers, February 1983, C-32(2), 108-120.
10. Brooks, R. A. and Lozano-Perez, T. A subdivision algorithm in configuration space for findpath with rotation. IEEE Trans. Systems, Man, and Cybernetics, March-April 1985, SMC-15(2), 224-233.
11. Bonner, S. and Kelley, R. B. A novel representation for planning 3-D collision-free paths. IEEE Trans. Systems, Man, and Cybernetics, November-December 1990, 20(6), 1337-1351.
12. Brooks, R. A. Solving the find-path problem by good representation of free space. IEEE Trans. Systems, Man, and Cybernetics, March-April 1983, SMC-13(3), 190-197.
13. Nilsson, N. J. Principles of Artificial Intelligence, 1982 (Springer-Verlag, New York).
14. Liu, B., Choo, S.-H., Lok, S.-L., Leong, S.-M., Lee, S.-C., Poon, F.-P. and Tan, H.-H. Finding the shortest route using cases, knowledge, and Dijkstra's algorithm. IEEE Expert, October 1994, 7-11.
15. Liu, Y.-H. and Arimoto, S. Computation of the tangent graph of polygonal obstacles by moving-line processing. IEEE Trans. Robotics and Antomn, December 1994, 10(6), 823-830.
16. Takahashi, O. and Schilling, R. J. Motion planning in a plane using generalised Voronoi diagrams. IEEE Trans. Robotics and Autonm, April 1989, 5(2), 143-150.
17. Wilfong, G. T. Motion planning for an autonomous vehicle. In Proceedings of the IEEE International Conference on Robotics and Automation, 1988, pp. 529-533.
18. Vasseur, H. A., Pin, F. G. and Taylor, J. R. Navigation of a car-like mobile robot using a decomposition of the environment in convex cells. Proceedings of the 1991 IEEE International Conference on Robotics and Automation, pp. 1496-1502.
19. Chazelle, B. and Incerpi, J. Triangulation and shape-complexity. ACM Trans. Graphics, April 1984, 3(2), 135-152.
20. Woo, T. C. and Shin, S. Y. A linear time algorithm for triangulating a point-visible polygon. ACM Trans. Graphics, January 1985, 4(1), 60-70.
21. Fournier, A. and Montuno, D. Y. Triangulating simple polygons and equivalent problems. ACM Trans. Graphics, April 1984, 3(2), 153-174.
22. Garey, M. R., Johnson, D. S., Preparata, F. P. and Tarjan, R. E. Triangulating a simple polygon. Inf. Processing Lett., June 1978, 7(4), 175-179.
23. Tarjan, R. E. and Van Wyk, C. J. An O(nloglogn)-time algorithm for triangulating a simple polygon. SIAM J. Computing, February 1988, 17(1), 143-178.
24. Ekoule, A. B., Peyrin, F. C. and Odet, C. L. A triangulation algorithm from arbitrary shaped multiple planar contours. ACM Trans. Graphics, April 1991, 10(2), 182-199.
25. Wilson, R. J. Introduction to Graph Theory, 1979 (Longman, London).
26. Ko, W. S. A navigation strategy for mobile robots in a manufacturing environment. PhD thesis, University of London, 1996.
27. Mortenson, M. E. Computer Graphics: An Introduction to the Mathematics and Geometry, 1989 (Heinemann Newnes).