Title :
Generation of diverse paths in 3D environments
Author :
Huaman Quispe, Ana ; Kunz, Tobias ; Stilman, Mike
Author_Institution :
Center for Robot. & Intell. Machines, Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
In this paper we propose a deterministic algorithm to produce a set of diverse paths between a given start and goal configuration in 3D environments. These diverse paths have the following properties: 1) They are bounded in length and 2) They are non-visibility-deformable into one another. Maintaining multiple path alternatives is important in practical applications such as planning in dynamic environments, in which a path may unexpectedly become infeasible due to unforeseen environmental changes. We present our approach, the distance cost considered (based on the path deformability concept previously introduced in [11]) and finally show results of simulated experiments that exemplify the effectiveness of our algorithm.
Keywords :
deterministic algorithms; path planning; robots; 3D environments; bounded path; deterministic algorithm; distance cost; diverse path generation; dynamic environments; environmental changes; goal configuration; nonvisibility-deformable path; path deformability; path planning; Conferences; Diversity reception; Intelligent robots; Planning; Three-dimensional displays; Trajectory;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location :
Tokyo
DOI :
10.1109/IROS.2013.6697226