Improving the efficiency of motion planning on a polyhedron

Pi-Ying Cheng*, Der Chin Liu

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    研究成果: Paper同行評審

    摘要

    The computational process for identifying bend points on a polyhedron model in a three-dimensional space is extremely complex. Therefore, calculating the shortest path consumes too much time for calculating the results from n independent nonlinear equations and for estimating the optimal solution from those results. This study presents a novel algorithm to derive an efficient motion planning on a polyhedron model. The proposed algorithm combines the computational geometry method with the numerical analysis method to obtain the bend points that pass through the shortest path. This algorithm should improve the efficiency of the motion planning process. The computational geometry method is applied to create fractional patches, to retrieve information about the patches, and to calculate the distance between two points. The numerical analysis method is applied to derive the feasible paths, and then the Dijkstra method is used to identify the shortest path between specific points of the edge boundary. An illustrative example demonstrates this algorithm's feasibility and effectiveness. The purpose of this research is to simplify the process of variant motion planning, eliminate the time needed for estimating the optimal solution of the Voronoi method, and enhance the working efficiency by around 99% of the network planning method.

    原文English
    頁面44-49
    頁數6
    DOIs
    出版狀態Published - 1 十二月 1999
    事件Proceedings of the 1999 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI'99 - Taipei, Taiwan
    持續時間: 15 八月 199918 八月 1999

    Conference

    ConferenceProceedings of the 1999 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI'99
    城市Taipei, Taiwan
    期間15/08/9918/08/99

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