Computing Shortest Safe Path amidst Growing Discs in the Plane

Authors Jur van den Berg, Mark Overmars

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Jur van den Berg
Mark Overmars

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Jur van den Berg and Mark Overmars. Computing Shortest Safe Path amidst Growing Discs in the Plane. In Robot Navigation. Dagstuhl Seminar Proceedings, Volume 6421, pp. 1-4, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2007)


In this paper we discuss the problem of planning safe paths amidst unpredictably moving obstacles in the plane. Given the initial positions and the maximal velocities of the moving obstacles, the regions that are possibly not collision-free are modeled by discs that grow over time. We present an approach to compute the shortest path between two points in the plane that avoids these growing discs. The generated paths are thus guaranteed to be collision-free with respect to the moving obstacles while being executed. We created a fast implementation that is capable of planning paths amidst many growing discs within milliseconds.
  • Path planning dynamic environments


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