Maximum-Clearance Planar Motion Planning Based on Recent Developments in Computing Minkowski Sums and Voronoi Diagrams

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dc.contributor.authorJung, Mingyuen_US
dc.contributor.authorKim, Myung-Sooen_US
dc.contributor.editorLee, Sung-Hee and Zollmann, Stefanie and Okabe, Makoto and Wünsche, Burkharden_US
dc.date.accessioned2021-10-14T10:05:34Z
dc.date.available2021-10-14T10:05:34Z
dc.date.issued2021
dc.description.abstractWe present a maximum-clearance motion planning algorithm for planar geometric models with three degrees of freedom (translation and rotation). This work is based on recent developments in real-time algorithms for computing the Minkowski sums and Voronoi diagrams of planar geometric models bounded by G1-continuous sequences of circular arcs. Compared with their counterparts using polygons with no G1-continuity at vertices, the circle-based approach greatly simplifies the Voronoi structure of the collision-free space for the motion planning in a plane with three degrees of freedom. We demonstrate the effectiveness of the proposed approach by test sets of maximum-clearance motion planning through narrow passages in a plane.en_US
dc.description.sectionheadersFast Rendering and Movement
dc.description.seriesinformationPacific Graphics Short Papers, Posters, and Work-in-Progress Papers
dc.identifier.doi10.2312/pg.20211382
dc.identifier.isbn978-3-03868-162-5
dc.identifier.pages19-24
dc.identifier.urihttps://doi.org/10.2312/pg.20211382
dc.identifier.urihttps://diglib.eg.org:443/handle/10.2312/pg20211382
dc.publisherThe Eurographics Associationen_US
dc.subjectComputing methodologies
dc.subjectMotion planning
dc.subjectplanar geometric models
dc.subjectcircle
dc.subjectbased algorithm
dc.subjectmaximum
dc.subjectclearance
dc.subjectMinkowski sum
dc.subjectVoronoi diagram
dc.subjectmedial axis
dc.titleMaximum-Clearance Planar Motion Planning Based on Recent Developments in Computing Minkowski Sums and Voronoi Diagramsen_US
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