Robust Complete Path Planning in the Plane
نویسندگان
چکیده
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 +c3) log n) with c3 ∈ O(n) the number of configurations with three simultaneous contacts between robot and obstacle edges. The algorithm is implemented robustly using our adaptiveprecision controlled perturbation library. The program is fast and memory efficient, is provably accurate, and handles degenerate input.
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