Computation of the tangent graph of polygonal obstacles by moving-line processing

  title={Computation of the tangent graph of polygonal obstacles by moving-line processing},
  author={Yunhui Liu and Suguru Arimoto},
  journal={IEEE Trans. Robotics and Automation},
The tangent graph is a powerful graphic data structure for the path-planning of a mobile robot among obstacles because it has fewer edges than the widely used visibility graph. This paper proposes an efficient algorithm for computing the tangent graph of a set of polygonal obstacles. The algorithm at first detects common tangents of obstacle boundaries by movingline processing that cooperatively moves a straight segment on the boundaries, and then checks for intersections among detected… CONTINUE READING

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M’76-SM’82-F’83) received the B.S. degree in mathematics from Kyoto University, Kyoto, Japan, in 1959, and the Dr. Eng. degree in control engineering from the University of Tokyo, Tokyo, Japan

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