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) |
|---|---|
| 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 - Sep 2 2013 |
Keywords
- Configuration spaces
- robust computational geometry
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
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Milenkovic, V., Sacks, E., & Trac, S. (2013). Robust free space computation for curved planar bodies. IEEE Transactions on Automation Science and Engineering, 10(4), 875-883. [6587570]. https://doi.org/10.1109/TASE.2013.2277781