Title :
Motion planning using the modified visibility graph
Author :
Neus, Matthieu ; Maouche, Salah
Author_Institution :
Lab. d´´Autom., Univ. des Sci. et Technol. de Lille, Villeneuve d´´Ascq, France
Abstract :
We consider the problem of planning robot motion in a plane with two constraints on the trajectory: being short and comfortable. Based on the visibility graph principles, our method encloses costs due to the kinematics of the robot and to the shape of the free space
Keywords :
genetic algorithms; graph theory; path planning; robot kinematics; free space; modified visibility graph; motion planning; random search; roadmap; Costs; Differential equations; Kinematics; Motion planning; Orbital robotics; Robot motion; Robustness; Shape; Technology planning; Trajectory;
Conference_Titel :
Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-5731-0
DOI :
10.1109/ICSMC.1999.812481
