Computing the configuration space obstacles is an important problem in spatial planning for robotics applications. In this paper, we present parallel algorithm for computing the configuration space obstacles by using hypercube multiprocessors. The digitized images of the obstacles and the robot are stored in an N × N image plane. An algorithm for handling robots whose shapes are arbitrary convex polygons was presented. Our algorithms take O(logN) time and O(1) space which is asymptotically optimal for hypercube computers.
|Number of pages||8|
|Journal||IEEE Symposium on Parallel and Distributed Processing - Proceedings|
|State||Published - 1 Dec 1995|
|Event||Proceedings of the 1995 7th IEEE Symposium on Parallel and Distributed Processing - San Antonio, TX, USA|
Duration: 25 Oct 1995 → 28 Oct 1995