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Proceedings Paper

Optimal Path Planning By Cost Wave Propagation In Metric Configuration Space
Author(s): Leo Dorst; Karen Trovato
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Paper Abstract

In this paper we give a solution to the problem of finding an optimal path for an arbitrary robot among static obstacles, from its present state to the closest of a set of goal states. The path is optimal in the sense of minimizing some criterion (minimum motion, distance, effort, etc.). Our solution is the well-known heuristic search method `A* with h = 0' (no heuristic), applied to a graph representing configuration space, with a metric incorporating the optimization criterion. It is applicable to any robot, unrestricted in the number of degrees of freedom, and capable of handling a broad class of optimization criteria. The method works fairly fast for a few degrees of freedom. Examples in two dimensions are given.

Paper Details

Date Published: 10 March 1989
PDF: 12 pages
Proc. SPIE 1007, Mobile Robots III, (10 March 1989); doi: 10.1117/12.949097
Show Author Affiliations
Leo Dorst, Philips Laboratories (United States)
Karen Trovato, Philips Laboratories (United States)


Published in SPIE Proceedings Vol. 1007:
Mobile Robots III
William J. Wolfe, Editor(s)

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