Path Planning above a Polyhedral Terrain

— We consider the problem of path planning above a polyhedral terrain and present a new algorithm that for any p ≥ 1, computes a (c + ε)-approximation to the Lp-shortest path above a polyhedral terrain in O(n ε log n log log n) time and O(n log n) space, where n is the number of vertices of the terrain, and c = 2(p−1)/p . This leads to an ε-approximation algorithm for the problem in L1 metric, and a ( √ 2 + ε)-factor approximation algorithm in Euclidean space.

• Type: Conference
• Year: 2006
• Where: ICRA
• Authors: Hamid Zarrabi-Zadeh
• Keywords: Algorithm, ICRA 2006, Path Planning, Polyhedral Terrain, Robotics