A morphological approach to shortest path planning for rotating objects

Soo Chang Pei; Chin Lun Lai; Frank Y. Shih

doi:10.1016/S0031-3203(97)00141-6

A morphological approach to shortest path planning for rotating objects

Soo Chang Pei, Chin Lun Lai, Frank Y. Shih

Computer Science

Research output: Contribution to journal › Article › peer-review

13 Scopus citations

Abstract

This paper presents a mathematical morphology based approach to find the shortest path of an arbitrarily shaped moving object with rotations amid obstacles of arbitrary shapes. By utilizing the proposed rotational morphology along with the continuous turning-angle constraint, the representation framework of the motion planning problem becomes simple and practical. Two vehicle models with different driving and turning systems are used in solving the path planning problem and their strategies are presented. Simulation results show that our algorithm works successfully in various conditions.

Original language	English (US)
Pages (from-to)	1127-1138
Number of pages	12
Journal	Pattern Recognition
Volume	31
Issue number	8
DOIs	https://doi.org/10.1016/S0031-3203(97)00141-6
State	Published - Aug 1 1998

All Science Journal Classification (ASJC) codes

Software
Signal Processing
Computer Vision and Pattern Recognition
Artificial Intelligence

Keywords

Continuous turning angle
Distance transformation
Mathematical morphology
Motion planning
Rotational morphology

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10.1016/S0031-3203(97)00141-6

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title = "A morphological approach to shortest path planning for rotating objects",

abstract = "This paper presents a mathematical morphology based approach to find the shortest path of an arbitrarily shaped moving object with rotations amid obstacles of arbitrary shapes. By utilizing the proposed rotational morphology along with the continuous turning-angle constraint, the representation framework of the motion planning problem becomes simple and practical. Two vehicle models with different driving and turning systems are used in solving the path planning problem and their strategies are presented. Simulation results show that our algorithm works successfully in various conditions.",

keywords = "Continuous turning angle, Distance transformation, Mathematical morphology, Motion planning, Rotational morphology",

author = "Pei, {Soo Chang} and Lai, {Chin Lun} and Shih, {Frank Y.}",

note = "Funding Information: This work was supported by the National Science Council in Taiwan, R.O.C. and by the New Jersey Institute of Technology, Newark, NJ, U.S.A. ",

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AU - Pei, Soo Chang

AU - Lai, Chin Lun

AU - Shih, Frank Y.

N1 - Funding Information: This work was supported by the National Science Council in Taiwan, R.O.C. and by the New Jersey Institute of Technology, Newark, NJ, U.S.A.

PY - 1998/8/1

Y1 - 1998/8/1

N2 - This paper presents a mathematical morphology based approach to find the shortest path of an arbitrarily shaped moving object with rotations amid obstacles of arbitrary shapes. By utilizing the proposed rotational morphology along with the continuous turning-angle constraint, the representation framework of the motion planning problem becomes simple and practical. Two vehicle models with different driving and turning systems are used in solving the path planning problem and their strategies are presented. Simulation results show that our algorithm works successfully in various conditions.

AB - This paper presents a mathematical morphology based approach to find the shortest path of an arbitrarily shaped moving object with rotations amid obstacles of arbitrary shapes. By utilizing the proposed rotational morphology along with the continuous turning-angle constraint, the representation framework of the motion planning problem becomes simple and practical. Two vehicle models with different driving and turning systems are used in solving the path planning problem and their strategies are presented. Simulation results show that our algorithm works successfully in various conditions.

KW - Continuous turning angle

KW - Distance transformation

KW - Mathematical morphology

KW - Motion planning

KW - Rotational morphology

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EP - 1138

JO - Pattern Recognition

JF - Pattern Recognition

IS - 8

ER -

A morphological approach to shortest path planning for rotating objects

Abstract

All Science Journal Classification (ASJC) codes

Keywords

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