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Proceedings Paper

The Classical 2D Find-Path Problem : Improving Search Efficiency By Using Orientation Heuristics
Author(s): Joan Ilari; Carme Torras
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Paper Abstract

The paper introduces some improvements over an heuristic approach previously proposed by the authors to tackle the problem of finding a collision-free path for a rigid body amidst a set of fixed obstacles in a 2D environment. While the former approach was based on the guiding of the cartesian degrees of freedom of the mobile body during the search for a path in configuration space, the new one resorts also to the guiding of the rotational degree of freedom of the mobile body. This is a natural extension of the previous approach which, while preserving its efficiency, leads to paths with better clearance properties. To shorten of the resulting solution paths and to improve their smoothness, relaxation techniques are used and shown to convey interesting possibilities as a path planning postprocessing step.

Paper Details

Date Published: 1 January 1987
PDF: 8 pages
Proc. SPIE 0852, Mobile Robots II, (1 January 1987); doi: 10.1117/12.968254
Show Author Affiliations
Joan Ilari, Institut de Cibernetica (Spain)
Carme Torras, Institut de Cibernetica (Spain)

Published in SPIE Proceedings Vol. 0852:
Mobile Robots II
Wendell H. Chun; William J. Wolfe, Editor(s)

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