Improving the efficiency of motion planning on a polyhedron

Pi-Ying Cheng*, Der Chin Liu

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

Abstract

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.

Original languageEnglish
Pages44-49
Number of pages6
DOIs
StatePublished - 1 Dec 1999
EventProceedings of the 1999 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI'99 - Taipei, Taiwan
Duration: 15 Aug 199918 Aug 1999

Conference

ConferenceProceedings of the 1999 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI'99
CityTaipei, Taiwan
Period15/08/9918/08/99

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