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Published in:
2013 | OriginalPaper | Chapter
Robust Complete Path Planning in the Plane
Authors : Victor Milenkovic, Elisha Sacks, Steven Trac
Published in: Algorithmic Foundations of Robotics X
Publisher: Springer Berlin Heidelberg
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We present a complete path planning algorithm for a plane robot with three degrees of freedom and a static obstacle. The part boundaries consist of
n
linear and circular edges. The algorithm constructs and searches a combinatorial representation of the robot free space. Its computational complexity is O((
n
4
+ c
3
) log
n
) with
c
3
ε
O(
n
6
) the number of configurations with three simultaneous contacts between robot and obstacle edges. The algorithm is implemented robustly using our adaptive-precision controlled perturbation library. The program is fast and memory efficient, is provably accurate, and handles degenerate input.