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dc.contributor.authorTokuta, Alade
dc.contributor.editorSkala, Václav
dc.date.accessioned2015-09-22T11:02:47Z
dc.date.available2015-09-22T11:02:47Z
dc.date.issued1998
dc.identifier.citationJournal of WSCG. 1998, vol. 6, no. 1-3.en
dc.identifier.issn1213-6972 (print)
dc.identifier.issn1213-6980 (CD-ROM)
dc.identifier.issn1213-6964 (online)
dc.identifier.urihttp://hdl.handle.net/11025/15849
dc.format9 s.cs
dc.format.mimetypeapplication/pdf
dc.language.isoenen
dc.publisherVáclav Skala - UNION Agencycs
dc.relation.ispartofseriesJournal of WSCGen
dc.rights© Václav Skala - UNION Agencycs
dc.subjectviditelný grafcs
dc.subjectplánování cestycs
dc.subjectVGRAPHcs
dc.titleExtending the VGRAPH algorithm for robot path planningen
dc.typečlánekcs
dc.typearticleen
dc.rights.accessopenAccessen
dc.type.versionpublishedVersionen
dc.description.abstract-translatedThis paper presents an O(nlogm) method to incorporate start and goal points of a robot into the roadmap of a two-dimensional workspace to form a VGRAPH. A VGRAPH Point Incorporation Algorithm(VPIA) incorporates a point in free-space into a roadmap. This VPIA divides the free space around an obstacle vertex into an ordered set of areas. A search is used to determine the containment of the point. Containment implies visibility of the point from the vertex. A point is incorporated by determining its visibility from all obstacle vertices. The VPIA is inherently parallel and the implementation can reduce this complexity from O(nlogm) to O(logm). Most existing techniques for incorporating points into a roadmap perform in O(n2). The roadmap's data structure is modified to support the VPIA. The VPIA, employing the VGRAPH approach should enhance the worst case runtime of find-path algorithms closer to real-time for 2-D workspaces cluttered with obstacles. Sample VGRAPH diagram generated by an implementation of the VPIA is shown in Appendix A.en
dc.subject.translatedvisibility graphen
dc.subject.translatedpath planningen
dc.subject.translatedVGRAPHen
dc.type.statusPeer-revieweden
Appears in Collections:Volume 6, number 1-3 (1998)

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