Abstract
A bodyB must move from a placementZ 0 to a placementZ 1, while avoiding collision with a setS of moving obstacles. The motion must satisfy an inertial constraint: the acceleration cannot exceed a given boundM. The problem is analyzed, and polynomial-time motion-planning algorithms are given for the case of a particle moving in one dimension.
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Communicated by Chee-Keng Yap.
This work was supported in part by the National Science Foundation under Grant DCR-01898.
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Ó'Dúnlaing, C. Motion planning with inertial constraints. Algorithmica 2, 431–475 (1987). https://doi.org/10.1007/BF01840370
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DOI: https://doi.org/10.1007/BF01840370