A morphological approach to shortest path planning for rotating objects
Journal
Pattern Recognition
Journal Volume
31
Journal Issue
8
Pages
1127-1138
Date Issued
1998
Date
1998
Author(s)
Abstract
This paper presents a mathematical morphology based approach to find the shortest path of an arbitrarily shaped moving object with rotations amid obstacles of arbitrary shapes. By utilizing the proposed rotational morphology along with the continuous turning-angle constraint, the representation framework of the motion planning problem becomes simple and practical. Two vehicle models with different driving and turning systems are used in solving the path planning problem and their strategies are presented. Simulation results show that our algorithm works successfully in various conditions. © 1998 Pattern Recognition Society. Published by Elsevier Science Ltd. All rights reserved.
Subjects
Continuous turning angle; Distance transformation; Mathematical morphology; Motion planning; Rotational morphology
SDGs
Other Subjects
Computational complexity; Computational geometry; Computer simulation; Mathematical morphology; Motion planning; Problem solving; Continuous turning angle; Distance transformation; Relational morphology; Object recognition
Type
journal article
File(s)![Thumbnail Image]()
Loading...
Name
40.pdf
Size
750.04 KB
Format
Adobe PDF
Checksum
(MD5):4bb80055634f909ce78b49265584e0cd