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Walking an unknown street with bounded detour. Computational geometry: theory and applications (1992)
| Venue: | in The 32nd Symposium on Foundations of Computer Science |
| Citations: | 51 - 7 self |
BibTeX
@INPROCEEDINGS{Klein92walkingan,
author = {Rolf Klein},
title = {Walking an unknown street with bounded detour. Computational geometry: theory and applications},
booktitle = {in The 32nd Symposium on Foundations of Computer Science},
year = {1992}
}
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Abstract
A polygon with two distinguished vertices, s and g, is called a street iff the two boundary chains from s to g are mutually weakly visible. For a mobile robot with on-board vision system we describe a strategy for finding a short path from s to g in a street not known in advance, and prove that the length of the path created does not exceed 1 + 2. times the length of the shortest path from s to g. Experiments suggest that our strategy is much better than this, as no ratio bigger than 1.8 has yet been observed. This is complemented by a lower bound of 1.41 for the relative detour each strategy can be forced to generate. 1
