Optimal obstacle growing in motion planning for mobile robots

Abstract

Deals with methods using approximate cells decomposition of the configuration space in path planning for mobile robots in the plane. It is shown that optimal decomposition can be attained in the case of a polygonal robot amidst convex polygonal obstacles by choosing as reference point the center of the ring of minimal surface enclosing the robot, and gives as main result the position of this reference point.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>