14 February 1992 Robot path planning based on variational methods
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Proceedings Volume 1613, Mobile Robots VI; (1992) https://doi.org/10.1117/12.135177
Event: Robotics '91, 1991, Boston, MA, United States
Several methods for planning paths in a terrain represented by a digital map under different strategies and constraints for an autonomous vehicle are presented. The planning task is formulated as a variational problem in a space with a non-Euclidean metric depending on the applied strategy. The resulting nonlinear Hamilton-Jakobi equation can be approximated by a linear Fokker-Planck equation suitable for analytical calculations. Furthermore, an efficient dynamic programming algorithm is presented with complexity linear in the points of the discretized space. Because of the digitization bias, a second calculation step based on direct optimization can be appended. The method is applied to plan optimal flight paths in three dimensions.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Ulrich G. Leuthaeusser, Ulrich G. Leuthaeusser, } "Robot path planning based on variational methods", Proc. SPIE 1613, Mobile Robots VI, (14 February 1992); doi: 10.1117/12.135177; https://doi.org/10.1117/12.135177


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