DocumentCode
1255694
Title
On the moving-obstacle path-planning algorithm of Shih, Lee, and Gruver
Author
Conn, Robert A. ; Kam, Moshe
Author_Institution
Data Fusion Lab., Drexel Univ., Philadelphia, PA, USA
Volume
27
Issue
1
fYear
1997
fDate
2/1/1997 12:00:00 AM
Firstpage
136
Lastpage
138
Abstract
We analyze a motion planning algorithm proposed by Shih, Lee, and Gruver (1990). In particular, we discuss the case of motion planning among moving obstacles, for which an algorithm is presented by Shih, Lee, and Gruver (1990). The algorithm is claimed to always yield a collision-free path when one exists. We provide a specific counter-example to this claim, examine the possibility of repairing the algorithm, and discuss the computational complexity of a corrected algorithm
Keywords
computational complexity; mobile robots; path planning; position control; velocity control; collision-free path; computational complexity; corrected algorithm; mobile robot; motion planning algorithm; moving obstacle path planning algorithm; velocity; Algorithm design and analysis; Computational complexity; Motion analysis; Motion planning; Orbital robotics; Path planning; Piecewise linear techniques; Robot control; Topology; Velocity control;
fLanguage
English
Journal_Title
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
Publisher
ieee
ISSN
1083-4419
Type
jour
DOI
10.1109/3477.552194
Filename
552194
Link To Document