On-line motion planning: Case of a planar rod

  title={On-line motion planning: Case of a planar rod},
  author={James Cox and Chee-Keng Yap},
  journal={Annals of Mathematics and Artificial Intelligence},
In this paper we develop an algorithm for planning the motion of a planar “rod” (a line segment) amidst obstacles bounded by simple, closed polygons. The exact shape, number and location of the obstacles are assumed unknown to the planning algorithm, which can only obtain information about the obstacles by detecting points of contact with the obstacles. The ability to detect contact with obstacles is formalized by move primitives that we callguarded moves. We call ours theon-line motion… CONTINUE READING
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