Abstract
The planar stationary-obstacle path-planning problem for polygonal obstacles has been correctly and completely solved by Lozano-Perez and Wesley [3], i.e., a global, optimal algorithm was provided which requires O(μ2log μ) computation time, where μ is the number of obstacle-faces in the scene. That algorithm is known as the VGRAPH algorithm. Two variants of VGRAPH have been developed to solve the same problem in O(μ2) computation time [2], [5]. Our paper discusses a recent algorithm proposed by Alexopoulos and Griffin [1], called V* GRAPH, which also claims to provide an optimal solution. We demonstrate by counter-example that V* GRAPH is neither global nor optimal.
Original language | English (US) |
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Pages (from-to) | 721-723 |
Number of pages | 3 |
Journal | IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics |
Volume | 27 |
Issue number | 4 |
DOIs | |
State | Published - 1997 |
Externally published | Yes |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Software
- Information Systems
- Human-Computer Interaction
- Computer Science Applications
- Electrical and Electronic Engineering