Title :
Shortest distance problems in graphs using history-dependent transition costs with application to kinodynamic path planning
Author :
Cowlagi, Raghvendra V. ; Tsiotras, Panagiotis
Author_Institution :
Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
A new algorithm is presented to compute the shortest path on a graph when the node transition costs depend on the prior history of the path to the current node. The algorithm is applied to solve path planning problems with curvature constraints.
Keywords :
path planning; history-dependent transition costs; kinodynamic path planning; shortest distance problems; Cost function; History; Kinematics; Partitioning algorithms; Path planning; Remotely operated vehicles; Space exploration; Strategic planning; Trajectory; Vehicle dynamics;
Conference_Titel :
American Control Conference, 2009. ACC '09.
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-4523-3
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2009.5160149
