Maximum-Clearance Planar Motion Planning Based on Recent Developments in Computing Minkowski Sums and Voronoi Diagrams

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Date
2021
Journal Title
Journal ISSN
Volume Title
Publisher
The Eurographics Association
Abstract
We present a maximum-clearance motion planning algorithm for planar geometric models with three degrees of freedom (translation and rotation). This work is based on recent developments in real-time algorithms for computing the Minkowski sums and Voronoi diagrams of planar geometric models bounded by G1-continuous sequences of circular arcs. Compared with their counterparts using polygons with no G1-continuity at vertices, the circle-based approach greatly simplifies the Voronoi structure of the collision-free space for the motion planning in a plane with three degrees of freedom. We demonstrate the effectiveness of the proposed approach by test sets of maximum-clearance motion planning through narrow passages in a plane.
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@inproceedings{
10.2312:pg.20211382
, booktitle = {
Pacific Graphics Short Papers, Posters, and Work-in-Progress Papers
}, editor = {
Lee, Sung-Hee and Zollmann, Stefanie and Okabe, Makoto and Wünsche, Burkhard
}, title = {{
Maximum-Clearance Planar Motion Planning Based on Recent Developments in Computing Minkowski Sums and Voronoi Diagrams
}}, author = {
Jung, Mingyu
and
Kim, Myung-Soo
}, year = {
2021
}, publisher = {
The Eurographics Association
}, ISBN = {
978-3-03868-162-5
}, DOI = {
10.2312/pg.20211382
} }
Citation