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

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 numbe...

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Bibliographic Details
Main Authors: Maron, Oded, Lozano-Perez, Tomas
Language:en_US
Published: 2004
Subjects:
AI
MIT
Online Access:http://hdl.handle.net/1721.1/5935
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