Walking an Unknown Street with Bounded Detour
نویسنده
چکیده
A polygon with two distinguished vertices, s and g, is called a street iff the two boundary chains from s t o g are mutually weakly visible. For a mobile robot with on-board vision system we describe a strategy for finding a short path from s t o g in a street not known in advance, and prove that the length of the path created does not exceed 1 + 2. times the length of the shortest path from s to g . Experiments suggest that our strategy is much better than this, as no ratio bigger than 1.8 has yet been observed. This is complemented b y a lower bound of 1.41 for the relative detour each strategy can be forced t o generate.
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