3D shortest path planning in the presence of polyhedral obstacles

Author

Jiang, K. ; Seneviratne, L.D. ; Earles, S.W.E.

Author_Institution

Dept. of Mech. Eng., King´´s Coll., London, UK

fYear

1993

fDate

17-20 Oct 1993

Firstpage

206

Abstract

Presented is an approach for shortest path planning in three dimensional space in the presence of convex polyhedra. It is based on a visibility graph which is extended from two dimensional space into three dimensional one. A collineation is introduced for identification of visible edges in the three dimensional visibility graph. Then optimization schemes are used for finding a set of shortest paths via different edges, and the global shortest path is selected from them. Result of a computer simulation is given showing the versatility and efficiency of this approach

Keywords

computational geometry; graph theory; manipulators; optimisation; path planning; position control; 3D shortest path planning; collineation; computer simulation; convex polyhedra; global shortest path; identification; optimization; polyhedral obstacles; three dimensional shortest path planning; three dimensional space; three dimensional visibility graph; two dimensional space; visibility graph; visible edges; Artificial intelligence; Computer simulation; Educational institutions; End effectors; Intelligent robots; Manipulators; Mechanical engineering; Orbital robotics; Path planning; Shortest path problem;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on

Conference_Location

Le Touquet

Print_ISBN

0-7803-0911-1

Type

conf

DOI

10.1109/ICSMC.1993.390850

Filename

390850