Robot path planning based on variational methods

Ulrich G. Leuthaeusser

doi:10.1117/12.135177

14 February 1992 Robot path planning based on variational methods

Ulrich G. Leuthaeusser

Proceedings Volume 1613, Mobile Robots VI; (1992) https://doi.org/10.1117/12.135177
Event: Robotics '91, 1991, Boston, MA, United States

Abstract

Several methods for planning paths in a terrain represented by a digital map under different strategies and constraints for an autonomous vehicle are presented. The planning task is formulated as a variational problem in a space with a non-Euclidean metric depending on the applied strategy. The resulting nonlinear Hamilton-Jakobi equation can be approximated by a linear Fokker-Planck equation suitable for analytical calculations. Furthermore, an efficient dynamic programming algorithm is presented with complexity linear in the points of the discretized space. Because of the digitization bias, a second calculation step based on direct optimization can be appended. The method is applied to plan optimal flight paths in three dimensions.

Citation Download Citation

Ulrich G. Leuthaeusser "Robot path planning based on variational methods", Proc. SPIE 1613, Mobile Robots VI, (14 February 1992); https://doi.org/10.1117/12.135177

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