Polygon exploration with time-discrete vision
نویسندگان
چکیده
منابع مشابه
Polygon exploration with time-discrete vision
With the advent of autonomous robots with twoand three-dimensional scanning capabilities, classical visibility-based exploration methods from computational geometry have gained in practical importance. However, real-life laser scanning of useful accuracy does not allow the robot to scan continuously while in motion; instead, it has to stop each time it surveys its environment. This requirement ...
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With the advent of autonomous robots with twoand three-dimensional scanning capabilities, classical visibility-based exploration methods from computational geometry have gained in practical importance. However, real-life laser scanning of useful accuracy does not allow the robot to scan continuously while in motion; instead, it has to stop each time it surveys its environment. This requirement ...
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We present an on-line strategy that enables a mobile robot with vision to explore an unknown simple polygon. We prove that the resulting tour is less than 26.5 times as long as the shortest watchman tour that could be computed off-line. Our analysis is doubly founded on a novel geometric structure called the angle hull. Let D be a connected region inside a simple polygon, P . We define the angl...
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ژورنال
عنوان ژورنال: Computational Geometry
سال: 2010
ISSN: 0925-7721
DOI: 10.1016/j.comgeo.2009.06.003