An algorithm for generating convex obstacle-free regions based on stereographic projection

Many of the existing motion planning algorithms require the free space to be decomposed into convex obstacle-free regions. This paper presents an algorithm for generating such regions. The algorithm is based on stereographic projection. The algorithm requires relatively simple computations, compared...

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Bibliographic Details
Published in:	2017 International Siberian Conference on Control and Communications (SIBCON) pp. 1 - 6
Main Author:	Savin, Sergei
Format:	Conference Proceeding
Language:	English
Published:	IEEE 01-06-2017
Subjects:	Aerospace electronics Algorithm design and analysis Approximation algorithms Convex obstacle-free regions in-pipe robots Legged locomotion motion planning Planning stereographic projection Trajectory UAV walking robots
Online Access:	Get full text
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Summary:	Many of the existing motion planning algorithms require the free space to be decomposed into convex obstacle-free regions. This paper presents an algorithm for generating such regions. The algorithm is based on stereographic projection. The algorithm requires relatively simple computations, compared with some of the known methods. Three applications of the algorithm were demonstrated: motion planning for a walking robot, trajectory generation for an unmanned aerial vehicle and a motion planning for an in-pipe robot.
ISSN:	2380-6516
DOI:	10.1109/SIBCON.2017.7998590