Title :
Least cost paths with algebraic cost functions. Part 1
Author :
Kanayama, Yutaka
Author_Institution :
Dept. of Comput. Sci., California Univ., Santa Barbara, CA, USA
Abstract :
An idea of planning safer paths for robot motion is outlined. Use is made of algebraic cost functions of clearance to obstacles. A parameter k, safety factor, controls the balance between safety and length of the resultant paths. Analytical solutions are given for a polygon world by using calculus of variations. Results are reported about simple regions only. Another fundamental idea of the `equivalence classes´ of paths is introduced
Keywords :
position control; robots; safety; variational techniques; algebraic cost functions; calculus; least cost paths; polygon world; robot motion; safer path planning; safety factor; variational techniques; Computer science; Cost function; Manipulators; Mobile robots; Orbital robotics; Path planning; Remotely operated vehicles; Robot sensing systems; Safety; Space vehicles;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12026
