Robotics Research Technical Report: An Efficient Motion Planning Algorithm for a Convex Polygonal Object in 2-Dimensional Polygonal Space (Classic Reprint) - Hardcover

K. Kedem

9780331753578: Robotics Research Technical Report: An Efficient Motion Planning Algorithm for a Convex Polygonal Object in 2-Dimensional Polygonal Space (Classic Reprint)

Hardcover

ISBN 10: 033175357X ISBN 13: 9780331753578

Publisher: Forgotten Books, 2018

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Plan obstacle-free moves for a convex polygon in a 2-D world.

This book describes an efficient motion planning algorithm that ensures a convex polygon can translate and rotate while avoiding polygonal obstacles. It blends ideas from established methods to build a practical, scalable solution.

The approach builds a discrete, recursive representation of the free configuration space. It uses an edge graph to capture how boundary edges of the free space connect, and it extends this representation across orientations to enable full space planning. The result is a graph-based planning process that reduces the continuous problem to a manageable path search, with careful handling of critical orientations where the object touches walls.
What you’ll experience

A compact, combinatorial view of the free configuration space for a convex polygon.
A step-by-step description of constructing a boundary-edge graph that encodes connectivity.
An algorithmic path-planning workflow that moves from graph to continuous motion.
Practical performance notes, including time bounds and how the method scales with obstacle count.

Ideal for readers of robotics research and applied motion planning who want a concrete, implementable approach to collision-free movement in 2-D environments.

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