A morphological approach to shortest path planning for rotating objects

Document Type

Article

Publication Date

8-1-1998

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.

Identifier

0032140027 (Scopus)

Publication Title

Pattern Recognition

External Full Text Location

https://doi.org/10.1016/S0031-3203(97)00141-6

ISSN

00313203

First Page

1127

Last Page

1138

Issue

8

Volume

31

Fund Ref

Ministry of Science and Technology, Taiwan

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