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Path Planning with Objectives Minimum Length and Maximum Clearance
Abstract : In this paper, we study the problem of bi-objective path planning with the objectives minimizing the length and maximizing the clearance of the path, that is, maximizing the minimum distance between the path and the obstacles. The goal is to find Pareto optimal paths. We consider the case that the first objective is measured using the Manhattan metric and the second one using the Euclidean metric, and propose an $$O(n^3 \log n)$$ time algorithm, where n is the total number of vertices of the obstacles. Also, we state that the algorithm results in a ($$\sqrt{2}, 1$$)-approximation solution when both the objectives are measured using the Euclidean metric.
https://hal.inria.fr/hal-03165382
Contributor : Hal Ifip <>
Submitted on : Wednesday, March 10, 2021 - 4:05:14 PM
Last modification on : Wednesday, March 10, 2021 - 4:10:30 PM
Contributor : Hal Ifip <>
Submitted on : Wednesday, March 10, 2021 - 4:05:14 PM
Last modification on : Wednesday, March 10, 2021 - 4:10:30 PM
Licence
Distributed under a Creative Commons Attribution 4.0 International License