DOI: 10.1109/iccas.2013.6704121
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Abstract: This paper presents an algorithm to model the workspace obstacles of a circular robot. An obstacle of any shape can be represented by line and circular arc segments. Based on robot radius, geometric representation is applied for both line and circular arcs and the operation is known as offsetting. Result of our algorithm creates an efficient configuration space and helps planning high-quality motion paths. Our method works differently for line and circular arc segments. Two major steps are: (i) finding the ra…

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