Visible Decomposition: Real-Time Path Planning in Large Planar Environments

dc.creator	Maron, Oded
dc.creator	Lozano-Perez, Tomas
dc.date	2004-10-04T14:15:31Z
dc.date	2004-10-04T14:15:31Z
dc.date	1998-06-01
dc.date.accessioned	2013-10-09T02:42:02Z
dc.date.available	2013-10-09T02:42:02Z
dc.date.issued	2013-10-09
dc.identifier	AIM-1638
dc.identifier	http://hdl.handle.net/1721.1/5935
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721
dc.description	We describe a method called Visible Decomposition for computing collision-free paths in real time through a planar environment with a large number of obstacles. This method divides space into local visibility graphs, ensuring that all operations are local. The search time is kept low since the number of regions is proved to be small. We analyze the computational demands of the algorithm and the quality of the paths it produces. In addition, we show test results on a large simulation testbed.
dc.format	17 p.
dc.format	689951 bytes
dc.format	641831 bytes
dc.format	application/postscript
dc.format	application/pdf
dc.language	en_US
dc.relation	AIM-1638
dc.subject	AI
dc.subject	MIT
dc.subject	Artificial Intelligence
dc.subject	path planning
dc.subject	visibility graph
dc.title	Visible Decomposition: Real-Time Path Planning in Large Planar Environments

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