Extracting optimal paths from roadmaps for motion planning Conference Paper

abstract

• 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.

name of conference

• 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

authors

• Amato, Nancy

published proceedings

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

author list (cited authors)

• Kim, J., Pearce, R. A., & Amato, N. M.

citation count

• 40

complete list of authors

• Kim, J||Pearce, RA||Amato, NM

publication date

• January 2003

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• IEEE International Conference on Robotics and Automation  Journal

keywords

• 46 Information And Computing Sciences
• 4602 Artificial Intelligence

Digital Object Identifier (DOI)

• 10.1109/ROBOT.2003.1241956

International Standard Book Number (ISBN) 10

• 0-7803-7736-2

start page

• 2424

end page

• 2429

volume

• 2

URL

• http://dx.doi.org/10.1109/robot.2003.1241956