Extracting optimal paths from roadmaps for motion planning

被引：37

作者：

Kim, J ^{[1
]}

Pearce, RA ^{[1
]}

Amato, NM ^{[1
]}

机构：

[1] Texas A&M Univ, Dept Comp Sci, College Stn, TX 77843 USA

来源：

2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS | 2003年

关键词：

D O I：

10.1109/ROBOT.2003.1241956

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We present methods for extracting optimal paths from motion planning roadmaps. Our system enables any combination of optimization criteria, such as collision detection, kinematic/dynamic constraints, or minimum clearance, and relaxed definitions of the goal state, to be used when selecting paths from roadmaps. Our algorithm is an augmented version of Dijkstra's shortest path algorithm which allows edge weights to be defined relative to the current path. We present simulation results maximizing minimum path clearance, minimizing localization effort, and enforcing kinematic/dynamic constraints.

引用

页码：2424 / 2429

页数：6

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