On-line path planning in an unknown polygonal environment

Authors:
Amitava Datta;Subbiah Soundaralakshmi
Affiliations:
School of Computer Science and Software Engineering, University of Western Australia, Perth, W A 6009, Australia;School of Computer Science and Software Engineering, University of Western Australia, Perth, W A 6009, Australia
Venue:
Information Sciences—Informatics and Computer Science: An International Journal
Year:
2004

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Abstract

We consider the navigation problem of a robot from a starting point S to a target point T inside an unknown rectilinear polygon. The robot knows the directions of the points S and T and it can detect the edges of the polygon through its tactile sensors. We present a competitive strategy for the robot to reach the target T. The competitive ratio of our strategy is ≤ 4.5d(K-1)(K+2)+O(1), where, K=3(d/2)-1 and d is the L1 distance between S and T. We do not assume any structural restriction on the polygon, however tbe point S must be on one of the extreme edges of the polygon. This is the first strategy to search for a target inside an arbitrary unknown polygon with competitive ratio independent of the number of edges of the polygon.