2[1]Schwartz J T,Sharir M.On the " Piano Movers" problem: I.The case ofa two- dimensional rigid polygonal body moving amidst polygonal bar riers.Cocnm Pure Appi Math, 1983, 36: 345～ 398
3[2]Lozano- Perez T.Spatial planning: a configuration space approach.IEEE Trans on Computers, 1983, 32(2): 108～ 120
4[3]Crowley J L.Navigation for an intelligent mobile robot.IEEE Trans on Roboties and Automation, 1985, 1(1): 31～ 41
5[4]Brooks R A.Solving the find- path problem by good representation of free space.IEEE Trans on Systems, Man and Cybbemeties, 1983,13(3): 190～ 197
6[5]Takahashi O, Schilling R J.Motion planning in a place using generalized Voronoi diagram.IEEE Trans on Roboties and Automation, 1985, 5(2): 142～ 150
7[8]Harold J.Larson, Bruno O.Shubert, Probabilitic Models in Engineering Sciences, John Wiley ＆ Sons, New York, 197
