Title :
A symbolic-numeric silhouette algorithm
Author :
Hirukaw, Hirohisa ; Mourrain, Bernard ; Papegay, Yves
Author_Institution :
Electrotech. Lab., Tsukuba, Japan
Abstract :
The silhouette algorithm developed by Canny (1988, 1993) is a general motion planning algorithm which is known to have the best complexity of all of the general and complete algorithms. The authors present a symbolic-numeric version of the algorithm. This version does not require the symbolic computation of the determinants of resultant matrices, and can work on floating point arithmetic. Though its combinatorial complexity remains the same, but its algebraic complexity has been improved significantly which is very important towards its implementation. Several numerical examples are also presented
Keywords :
computational complexity; floating point arithmetic; path planning; symbol manipulation; algebraic complexity; combinatorial complexity; floating point arithmetic; motion planning algorithm; symbolic-numeric silhouette algorithm; Algorithm design and analysis; Employment; Equations; Floating-point arithmetic; Matrix decomposition; Orbital robotics; Polynomials; Robot kinematics; Robustness; Topology;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.895320
