Method of dual space in local path planning

Sergey F. Mironov

doi:10.1117/12.676734

9 June 2006 Method of dual space in local path planning

Sergey F. Mironov

Proceedings Volume 6253, Ninth International Workshop on Nondestructive Testing and Computer Simulations; 62530O (2006) https://doi.org/10.1117/12.676734
Event: Ninth International Workshop on Nondestructive Testing and Computer Simulations, 2005, St. Petersburg, Russian Federation

Abstract

The paper is devoted to the local path planning of intellectual agents with kinematics constraints. The method proposed allows us to calculate paths for several agents and to accommodate the paths to changing environment. At the same time, it satisfies computer performance restrictions in real time applications. The original approach of the method is a use of so called dual space. We present a one-to-one transformation of a source space to 3D space of a special structure. Path-planning tasks are resolved in the dual space. Then the solutions are transformed back to original space. The result of this method is a complex path planning in real time. It is illustrated on a high-speed car traffic model. This work extends previous research made by author in [5]-[7}.

Citation Download Citation

Sergey F. Mironov "Method of dual space in local path planning", Proc. SPIE 6253, Ninth International Workshop on Nondestructive Testing and Computer Simulations, 62530O (9 June 2006); https://doi.org/10.1117/12.676734

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