{"title":"Walking an unknown street with bounded detour","authors":"R. Klein","doi":"10.1109/SFCS.1991.185383","DOIUrl":null,"url":null,"abstract":"A polygon with two distinguished vertices, s and g, is called a street if the two boundary chains from s to g are mutually weakly visible. For a mobile robot with onboard vision, a strategy for finding a short path from s to g in a street not known in advance is described, and it is proved that the length of the path created does not exceed 1+3 pi /2 times the length of the shortest path from s to g. Experiments suggest that the 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.<<ETX>>","PeriodicalId":320781,"journal":{"name":"[1991] Proceedings 32nd Annual Symposium of Foundations of Computer Science","volume":"58 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1991-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"103","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"[1991] Proceedings 32nd Annual Symposium of Foundations of Computer Science","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SFCS.1991.185383","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 103
Abstract
A polygon with two distinguished vertices, s and g, is called a street if the two boundary chains from s to g are mutually weakly visible. For a mobile robot with onboard vision, a strategy for finding a short path from s to g in a street not known in advance is described, and it is proved that the length of the path created does not exceed 1+3 pi /2 times the length of the shortest path from s to g. Experiments suggest that the 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.<>
如果从s到g的两个边界链相互弱可见，则具有两个不同顶点s和g的多边形称为街道。对于具有板载视觉的移动机器人，描述了在事先未知的街道上寻找从s到g的短路径的策略，并证明了所创建的路径长度不超过从s到g的最短路径长度的1+3 pi /2倍。实验表明，该策略比这好得多，因为尚未观察到大于1.8的比率。对于每个策略可能被迫产生的相对弯路，这是1.41的下界。
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