10 March 1989 Optimal Path Planning By Cost Wave Propagation In Metric Configuration Space
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Proceedings Volume 1007, Mobile Robots III; (1989) https://doi.org/10.1117/12.949097
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States
In this paper we give a solution to the problem of finding an optimal path for an arbitrary robot among static obstacles, from its present state to the closest of a set of goal states. The path is optimal in the sense of minimizing some criterion (minimum motion, distance, effort, etc.). Our solution is the well-known heuristic search method `A* with h = 0' (no heuristic), applied to a graph representing configuration space, with a metric incorporating the optimization criterion. It is applicable to any robot, unrestricted in the number of degrees of freedom, and capable of handling a broad class of optimization criteria. The method works fairly fast for a few degrees of freedom. Examples in two dimensions are given.
© (1989) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Leo Dorst, Leo Dorst, Karen Trovato, Karen Trovato, } "Optimal Path Planning By Cost Wave Propagation In Metric Configuration Space", Proc. SPIE 1007, Mobile Robots III, (10 March 1989); doi: 10.1117/12.949097; https://doi.org/10.1117/12.949097


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