Optimal Path Planning By Cost Wave Propagation In Metric Configuration Space

Leo Dorst; Karen Trovato

doi:10.1117/12.949097

10 March 1989 Optimal Path Planning By Cost Wave Propagation In Metric Configuration Space

Leo Dorst, Karen Trovato

Proceedings Volume 1007, Mobile Robots III; (1989) https://doi.org/10.1117/12.949097
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

In this paper we give a solution to the problem of finding an optimal path for an arbitrary robot among static obstacles, from its present state to the closest of a set of goal states. The path is optimal in the sense of minimizing some criterion (minimum motion, distance, effort, etc.). Our solution is the well-known heuristic search method `A* with h = 0' (no heuristic), applied to a graph representing configuration space, with a metric incorporating the optimization criterion. It is applicable to any robot, unrestricted in the number of degrees of freedom, and capable of handling a broad class of optimization criteria. The method works fairly fast for a few degrees of freedom. Examples in two dimensions are given.

Citation Download Citation

Leo Dorst and Karen Trovato "Optimal Path Planning By Cost Wave Propagation In Metric Configuration Space", Proc. SPIE 1007, Mobile Robots III, (10 March 1989); https://doi.org/10.1117/12.949097

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