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Proceedings Paper

Robot path planning based on variational methods
Author(s): Ulrich G. Leuthaeusser
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Paper Abstract

Several methods for planning paths in a terrain represented by a digital map under different strategies and constraints for an autonomous vehicle are presented. The planning task is formulated as a variational problem in a space with a non-Euclidean metric depending on the applied strategy. The resulting nonlinear Hamilton-Jakobi equation can be approximated by a linear Fokker-Planck equation suitable for analytical calculations. Furthermore, an efficient dynamic programming algorithm is presented with complexity linear in the points of the discretized space. Because of the digitization bias, a second calculation step based on direct optimization can be appended. The method is applied to plan optimal flight paths in three dimensions.

Paper Details

Date Published: 14 February 1992
PDF: 9 pages
Proc. SPIE 1613, Mobile Robots VI, (14 February 1992); doi: 10.1117/12.135177
Show Author Affiliations
Ulrich G. Leuthaeusser, ESG Elektronik System GmbH (Germany)

Published in SPIE Proceedings Vol. 1613:
Mobile Robots VI
William J. Wolfe; Wendell H. Chun, Editor(s)

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