An efficient algorithm for computing high-quality paths amid polygonal obstacles

Conference Paper

We study a path-planning problem amid a set 0 of obstacles in R2, in which we wish to compute a short path between two points while also maintaining a high clearance from 0; the clearance of a point is its distance from a nearest obstacle in 0. Specifically, the problem asks for a path minimizing the reciprocal of the clearance integrated over the length of the path. We present the first polynomial-time approximation scheme for this problem. Let n be the total number of obstacle vertices and let ϵ ∈ (0, 1]. Our algorithm computes in time 0(n2/ϵ2 log n/ϵ) a path of total cost at most (1 + ϵ) times the cost of the optimal path.

Full Text

Duke Authors

Cited Authors

  • Agarwal, PK; Fox, K; Salzman, O

Published Date

  • January 1, 2016

Published In

  • Proceedings of the Annual Acm Siam Symposium on Discrete Algorithms

Volume / Issue

  • 2 /

Start / End Page

  • 1179 - 1192

International Standard Book Number 13 (ISBN-13)

  • 9781510819672

Digital Object Identifier (DOI)

  • 10.1137/1.9781611974331.ch82

Citation Source

  • Scopus