Shortest Path Planning for a Tethered Robot or an Anchored Cable

PDF Version Also Available for Download.

Description

We consider the problem of planning shortest paths for a tethered robot with a finite length tether in a 2D environment with polygonal obstacles. We present an algorithm that runs in time O((k{sub 1} + 1){sup 2}n{sup 4}) and finds the shortest path or correctly determines that none exists that obeys the constraints; here n is the number obstacle vertices, and k{sub 1} is the number loops in the initial configuration of the tether. The robot may cross its tether but nothing can cross obstacles, which cause the tether to bend. The algorithm applies as well for planning a shortest ... continued below

Physical Description

9 p.

Creation Information

Xavier, P.G. February 22, 1999.

Context

This article is part of the collection entitled: Office of Scientific & Technical Information Technical Reports and was provided by UNT Libraries Government Documents Department to Digital Library, a digital repository hosted by the UNT Libraries. It has been viewed 49 times . More information about this article can be viewed below.

Who

People and organizations associated with either the creation of this article or its content.

Author

Sponsor

Publisher

  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM, and Livermore, CA (United States)
    Place of Publication: Albuquerque, New Mexico

Provided By

UNT Libraries Government Documents Department

Serving as both a federal and a state depository library, the UNT Libraries Government Documents Department maintains millions of items in a variety of formats. The department is a member of the FDLP Content Partnerships Program and an Affiliated Archive of the National Archives.

Contact Us

What

Descriptive information to help identify this article. Follow the links below to find similar items on the Digital Library.

Description

We consider the problem of planning shortest paths for a tethered robot with a finite length tether in a 2D environment with polygonal obstacles. We present an algorithm that runs in time O((k{sub 1} + 1){sup 2}n{sup 4}) and finds the shortest path or correctly determines that none exists that obeys the constraints; here n is the number obstacle vertices, and k{sub 1} is the number loops in the initial configuration of the tether. The robot may cross its tether but nothing can cross obstacles, which cause the tether to bend. The algorithm applies as well for planning a shortest path for the free end of an anchored cable.

Physical Description

9 p.

Notes

OSTI as DE00003877

Medium: P; Size: 9 pages

Source

  • 1999 IEEE International Conference on Robotics and Automation, Detroit, MI (US), 05/10/1999--05/15/1999

Language

Item Type

Identifier

Unique identifying numbers for this article in the Digital Library or other systems.

  • Report No.: SAND99-0458C
  • Grant Number: AC04-94AL85000
  • Office of Scientific & Technical Information Report Number: 3877
  • Archival Resource Key: ark:/67531/metadc674654

Collections

This article is part of the following collection of related materials.

Office of Scientific & Technical Information Technical Reports

What responsibilities do I have when using this article?

When

Dates and time periods associated with this article.

Creation Date

  • February 22, 1999

Added to The UNT Digital Library

  • July 25, 2015, 2:20 a.m.

Description Last Updated

  • April 11, 2017, 9:05 p.m.

Usage Statistics

When was this article last used?

Yesterday: 0
Past 30 days: 0
Total Uses: 49

Interact With This Article

Here are some suggestions for what to do next.

Start Reading

PDF Version Also Available for Download.

Citations, Rights, Re-Use

Xavier, P.G. Shortest Path Planning for a Tethered Robot or an Anchored Cable, article, February 22, 1999; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc674654/: accessed September 23, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.