Share Email Print
cover

Proceedings Paper

Robot path planning based on variational methods
Author(s): Ulrich G. Leuthaeusser
Format Member Price Non-Member Price
PDF $14.40 $18.00
cover GOOD NEWS! Your organization subscribes to the SPIE Digital Library. You may be able to download this paper for free. Check Access

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)

© SPIE. Terms of Use
Back to Top