Title :
A 21/2-D algorithm for the shortest path search running on 2-D hardware
Author :
Carrioli, Luigi ; Diani, Marco
Author_Institution :
Istituto Analisis Numerica, CNR, Pavia, Italy
Abstract :
Presents an algorithm for individuating the shortest path in a 3D space in which the obstacles are described by means of range data. Such an algorithm runs on 2D hardware which is normally used for image processing tasks avoiding the development of expensive 3D hardware. This is possible because the procedure is split in two different 2D processes. Main advantages of the technique are: no pre-processing of the data coming from the sensors is needed, the algorithm works directly on them; and the computation complexity is linear with the length of the path
Keywords :
computational complexity; pattern recognition; planning (artificial intelligence); robots; search problems; 21/2-D algorithm; 3D space; computation complexity; image processing tasks; obstacles avoidance; path planning; range data; robotics; shortest path search; Hardware; Robot kinematics; Robot sensing systems; Shape;
Conference_Titel :
Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on
Conference_Location :
Ibaraki
DOI :
10.1109/IROS.1990.262439
