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The International Journal of Robotics Research
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Efficient Cell Labelling and Path Non-existence Computation using C-obstacle Query

Liangjun Zhang

Department of Computer Science, University of NorthCarolina at Chapel Hill, Chapel Hill, NC, USA, zlj{at}cs.unc.edu http://gamma.cs.unc.edu/CMP

Young J. Kim

Department of Computer Science and Engineering, EwhaWomen's University, South Korea, kimy{at}ewha.ac.kr

Dinesh Manocha

Department of Computer Science, University of NorthCarolina at Chapel Hill, Chapel Hill, NC, USA, dm{at}cs.unc.edu http://gamma.cs.unc.edu/CMP

We present a simple algorithm to check for path non-existence for a low-degree-of-freedom (DOF) robot among static obstacles. Our algorithm is based on approximate cell decomposition of configuration space or C-space. We use C-obstacle cell query to check whether a cell lies entirely inside the C-obstacle region. This reduces the path non-existence problem to checking whether a path exists through the set of all cells that do not lie entirely inside the C-obstacle region. We present a simple and efficient algorithm to perform C-obstacle cell query using generalized penetration depth computation. Our algorithm is simple to implement and we demonstrate its performance on three-DOF and four-DOF robots.

Key Words: Cell decomposition • cell labelling • penetration depth • path non-existence

The International Journal of Robotics Research, Vol. 27, No. 11-12, 1246-1257 (2008)
DOI: 10.1177/0278364908099216
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Home page
 The International Journal of Robotics ResearchHome page
S. Akella, N. M. Amato, W. Huang, and B. Mishra
Special Issue on the Seventh International Workshop on Algorithmic Foundations of Robotics
The International Journal of Robotics Research, November 1, 2008; 27(11-12): 1173 - 1174.
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