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On the problem of translating an elliptic object through a workspace of elliptic obstacles*

Published online by Cambridge University Press:  09 March 2009

B. John Oommen  and
Irwin Reichstein
B. John Oommen
Affiliation:
School of Computer Science, Carleton University, Ottawa: K1S 5B6, (Canada)
Irwin Reichstein
Affiliation:
School of Computer Science, Carleton University, Ottawa: K1S 5B6, (Canada)
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Summary

Two algorithms are presented which deal with translating an elliptic object, A, without collision amidst elliptic obstacles. These are:

(i) An exact algorithm, of complexity O(N log N), where N is the number of obstacles, yielding all directions along which the object is separable from the obstacles by a single translation.

(ii) An algorithm quadratic in N, which yields, with a degree of approximation determined by the user, a path of the object from its initial to its final position.

Type
Article
Information
Robotica , Volume 5 , Issue 3 , July 1987 , pp. 187 - 196
Copyright
Copyright © Cambridge University Press 1987

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