Reaching a Goal with Directional Uncertainty

We study two problems related to planar motion planning for robots with imperfect control, where, if the robot starts a linear movement in a certain commanded direction, we only know that its actual movement will be confined in a cone of angle ff centered around the specified direction. First, we consider a single goal region, namely the "region at infinity", and a set of polygonal obstacles, modeled as a set S of n line segments. We are interested in the region R ff (S) from where we can reach infinity with a directional uncertainty of ff. We prove that the maximum complexity of R ff (S) is O(n=ff 5 ). Second, we consider a collection of k polygonal goal regions of total complexity m, but without any obstacles. Here we prove an O(k³ m) bound on the complexity of the region from where we can reach a goal region with a directional uncertainty of ff. For both situations we also prove lower bounds on the maximum complexity, and we give efficient algorithms for computing the regions. ..

Reaching a goal with directional uncertainty

Disponible dans les fichiers attachés à ce documen

Reaching a goal with directional uncertainty

Programme 4 : robotique, image et visionSIGLEAvailable at INIST (FR), Document Supply Service, under shelf-number : 14802 E, issue : a.1994 n.2190 / INIST-CNRS - Institut de l'Information Scientifique et TechniqueFRFranc