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


Journal Article

© 2018 ACM. We study a path-planning problem amid a set O of obstacles in R2, in which we wish to compute a short path between two points while also maintaining a high clearance from O; the clearance of a point is its distance from a nearest obstacle in O. 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 O(nε22 lognε ) a path of total cost at most (1 + ε) times the cost of the optimal path.

Full Text

Duke Authors

Cited Authors

  • Agarwal, PK; Kyle, FOX; Salzman, O

Published Date

  • August 1, 2018

Published In

Volume / Issue

  • 14 / 4

Electronic International Standard Serial Number (EISSN)

  • 1549-6333

International Standard Serial Number (ISSN)

  • 1549-6325

Digital Object Identifier (DOI)

  • 10.1145/3230650

Citation Source

  • Scopus