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- W2528592293 abstract "This study provides new algorithms and commentary on old algorithms for computationally-efficient path planning in a field of obstacles. We consider first a basic marine navigation problem, the formation-stationing problem. It concerns one vehicle whose path should be designed, and one moving obstacle. We phrase the formation-stationing problem as a sequence of linear programs, and show (through simulation) that we obtain a solution in nearly all cases where a solution exists. We next propose a new algorithm for path-planning among many stationary polyhedral obstacles in N dimensions. Our algorithm (which extends previous work by Shih et al. (1990)) is global and polynomial-time in the number of obstacle faces. We provide counter-examples to two previously published path-planning algorithms, one for stationary obstacles (Alexopoulos & Griffin (1992)), and one for moving obstacles (Shih et al. (1990)). Finally, we propose a new global algorithm which uses vector fields to solve the moving-obstacle problem in N-dimensions. This algorithm is motivated by an existing global stationary-obstacle scalar potential function algorithm (Rimon & Koditschek (1992))." @default.
- W2528592293 created "2016-10-14" @default.
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- W2528592293 date "1995-01-01" @default.
- W2528592293 modified "2023-09-24" @default.
- W2528592293 title "How to compute a path through a field of obstacles efficiently (and how not to)" @default.
- W2528592293 hasPublicationYear "1995" @default.
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