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An approximation algorithm for d1-optimal motion of a rod robot with fixed rotations

Abam, M. A ; Sharif University of Technology | 2006

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  1. Type of Document: Article
  2. DOI: 10.1080/00207160600847787
  3. Publisher: 2006
  4. Abstract:
  5. Given a translating and rotating rod robot in a plane in the presence of polygonal obstacles with the initial and final placements of the rod known, the d1-optimal motion planning problem is defined as finding a collision-free motion of the rod such that the orbit length of a fixed but arbitrary point F on the rod is minimized. In this paper we study a special case of this problem in which the rod can translate freely, but can only rotate by some pre-specified given angles around F. We first characterize the d1-optimal motion of the robot under the given conditions and then present a (1 + ε)-approximation algorithm for finding the optimal path. The running time of the algorithm is bounded by a polynomial in terms of some parameters related to the problem input
  6. Keywords:
  7. Algorithms ; Approximation theory ; Collision avoidance ; Motion planning ; Optimal control systems ; Rotation ; Approximation algorithms ; D 1-optimal motion ; Robot motion planning ; Rod robot ; Mobile robots
  8. Source: International Journal of Computer Mathematics ; Volume 83, Issue 3 , 2006 , Pages 357-370 ; 00207160 (ISSN)
  9. URL: https://www.tandfonline.com/doi/full/10.1080/00207160600847787