Path planning through variational dynamic programming
- 17 December 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1839-1846
- https://doi.org/10.1109/robot.1994.351193
Abstract
The path planning problem, i.e., the geometrical problem of finding a collision-free pathbetween two given configurations of a robot moving among obstacles, has been studied bymany authors in recent years. Several complete algorithms exist for robots with few degreesof freedom (DOF), but they are intractable for more than 4 DOF. In order to tackle problems inhigher dimensions, several heuristic approaches have been developed for various subclasses ofthe general problem. The most efficient...Keywords
This publication has 9 references indexed in Scilit:
- Global path planning using artificial potential fieldsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Experiments in dual-arm manipulation planningPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Nonholonomic multibody mobile robots: Controllability and motion planning in the presence of obstaclesAlgorithmica, 1993
- Numerical potential field techniques for robot path planningIEEE Transactions on Systems, Man, and Cybernetics, 1992
- Robot Motion Planning: A Distributed Representation ApproachThe International Journal of Robotics Research, 1991
- Motion planning in the presence of movable obstaclesPublished by Association for Computing Machinery (ACM) ,1988
- An Algorithm for CAD-Based Generation of Collision-Free Robot PathsPublished by Springer Nature ,1988
- Real-Time Obstacle Avoidance for Manipulators and Mobile RobotsThe International Journal of Robotics Research, 1986
- Distance functions and their application to robot path planning in the presence of obstaclesIEEE Journal on Robotics and Automation, 1985