Optimization Techniques for Robot Path Planning

被引：3

作者：

Shurbevski, Aleksandar ^{[1
]}

Hirosue, Noriaki ^{[1
]}

Nagamochi, Hiroshi ^{[1
]}

机构：

[1] Kyoto Univ, Dept Appl Math & Phys, Sakyo Ku, Kyoto 6068501, Japan

来源：

ICT INNOVATIONS 2013: ICT INNOVATIONS AND EDUCATION | 2014年 / 231卷

关键词：

Robot; path planning; combinatorial optimization; multi-sphere scheme; packing problems; PROBABILISTIC ROADMAPS; SPHERES; SCHEME;

D O I：

10.1007/978-3-319-01466-1_10

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

We present a method for robot path planning in the robot's configuration space, in the presence of fixed obstacles. Our method employs both combinatorial and gradient-based optimization techniques, but most distinguishably, it employs a Multi-sphere Scheme purposefully developed for two and three-dimensional packing problems. This is a singular feature which not only enables us to use a particularly high-grade implementation of a packing-problem solver, but can also be utilized as a model to reduce computational effort with other path-planning or obstacle avoidance methods.

引用

页码：111 / 120

页数：10

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