DETERMINING A SHORTEST PATH FOR ROBOT MOTION

GOAL:
Move a robot R from starting position 's' to a final position 't' without any obstacle collisions. A collision occurs when a point of the robot coincides with an interior point of an obstacle. Note that sliding contact with the boundary of the obstacles does not constitute a collision.

       Please enable Java for an interactive construction (with Cinderella).                   Please enable Java for an interactive construction (with Cinderella).
      Collision! Robot points are within obstacle                  No collision. Sliding contact with ∂P is allowed.


O'Rourke presents three question as guides for determining a motion planning algorithm:

In order to answer these questions, the computational geometry topic of visibility graphs needs to be discussed.