TY - JOUR
T1 - An Efficient Algorithm for Computing High-Quality Paths amid Polygonal Obstacles
AU - Agarwal, Pankaj K.
AU - Fox, Kyle
AU - Salzman, Oren
AU - Kyle, F. O.X.
N1 - Publisher Copyright:
© 2018 ACM.
PY - 2018/10
Y1 - 2018/10
N2 - We study a path-planning problem amid a set O of obstacles in R2, in which we wish to compute a short path between two points while also maintaining a high clearance from O; the clearance of a point is its distance from a nearest obstacle in O. Specifically, the problem asks for a path minimizing the reciprocal of the clearance integrated over the length of the path. We present the first polynomial-time approximation scheme for this problem. Let n be the total number of obstacle vertices and let ε ∈ (0, 1]. Our algorithm computes in time O(n ε 2 2 logn ε ) a path of total cost at most (1 + ε) times the cost of the optimal path.
AB - We study a path-planning problem amid a set O of obstacles in R2, in which we wish to compute a short path between two points while also maintaining a high clearance from O; the clearance of a point is its distance from a nearest obstacle in O. Specifically, the problem asks for a path minimizing the reciprocal of the clearance integrated over the length of the path. We present the first polynomial-time approximation scheme for this problem. Let n be the total number of obstacle vertices and let ε ∈ (0, 1]. Our algorithm computes in time O(n ε 2 2 logn ε ) a path of total cost at most (1 + ε) times the cost of the optimal path.
KW - Motion planning
KW - geometry
KW - approximation
KW - bicriteria objective
UR - http://www.scopus.com/inward/record.url?scp=85052557642&partnerID=8YFLogxK
U2 - 10.1145/3230650
DO - 10.1145/3230650
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SN - 1549-6325
VL - 14
JO - ACM Transactions on Algorithms
JF - ACM Transactions on Algorithms
IS - 4
M1 - 46
ER -