Moving along a street (extended abstract)

  • Rolf Klein
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 553)


A polygon with two distinguished vertices, s and g, is called a street iff the two boundary chains from s to g are mutually weakly visible. For a mobile robot with on-board vision system we describe a strategy for finding a short path from s to g in a street not known in advance, and prove that the length of the path created does not exceed 1+3/2π times the length of the shortest path from s to g. Experiments suggest that our strategy is much better than this, as no ratio bigger than 1.8 has yet been observed. This is complemented by a lower bound of 1.41 for the relative detour each strategy can be forced to generate.

Key words

Shortest paths simple polygons path planning uncertainty robotics navigation computational geometry 


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Copyright information

© Springer-Verlag Berlin Heidelberg 1991

Authors and Affiliations

  • Rolf Klein
    • 1
  1. 1.Praktische Informatik VIFern Universität-GH-HagenHagenGermany

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