Motion Planning in a Dynamic Domain*
نویسندگان
چکیده
Motion planning is studied in a time-varying environment. Each obstacle is a convex polygon that moves in a fixed direction at a constant speed. The robot is a convex polygon that is subject to a speed bound. A method is presented to determine whether or not there is a translational collision-free motion for a polygonal robot from an initial position to a final position, and to plan such a motion, if it exists. Our method makes use of the concepts of configuration spaces and accessibility. An algorithm is given for motion planning in such an environment and its time complexity is analyzed.
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تاریخ انتشار 1990