Abstract
We present a free space computation algorithm for two planar bodies bounded by line segments and circular arcs. The computational complexity is O(((MN)2+k) log (mn) with and the number of boundary curves of the two bodies, and with the number of configurations with three pairs of curves in contact. Although k is in O((mn)2, mild input restrictions reduce it to (mn). We develop a robust implementation that is accurate, is fast, and handles degenerate input.
Original language | English (US) |
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Article number | 6587570 |
Pages (from-to) | 875-883 |
Number of pages | 9 |
Journal | IEEE Transactions on Automation Science and Engineering |
Volume | 10 |
Issue number | 4 |
DOIs | |
State | Published - 2013 |
Keywords
- Configuration spaces
- robust computational geometry
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering