Path Planning in Repetitive Environments
نویسندگان
چکیده
In this paper we discuss path planning in a special class of dynamic environments, namely repetitive environments, in which the motions of the moving obstacles are periodic (i.e. repetitive). For such environments it is possible to generate a roadmap in a preprocessing stage, which can be used multiple times to quickly solve individual planning queries. This in contrast to general dynamic environments, whose transitoriness invalidates the premise that a preprocessed roadmap can be used multiple times. Our approach is suitable for any robot with any number of degrees of freedom in twoand three dimensional workspaces, and applications can be found, amongst others, in virtual environments and computer games.
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تاریخ انتشار 2006