A fast algorithm to plan a collision-free path in cluttered 2D environments

2004 IEEE Conference on Robotics, Automation and Mechatronics

Volumn , Issue , 2004, Pages 786-791

  Tang, Kai Wing ^a   Jarvis, Ray A ^a  

^a MONASH UNIVERSITY   (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COLLISION AVOIDANCE; COMPUTATIONAL COMPLEXITY; HEURISTIC METHODS; MATHEMATICAL TRANSFORMATIONS; MOBILE ROBOTS; ARRAYS; CONSTRAINT THEORY; DATA STRUCTURES; GRAPH THEORY; MOTION PLANNING; PROBABILITY; PROBLEM SOLVING; ROBOTICS;

COLLISION-FREE PATH; FAST ALGORITHM; PROBABILISTIC ROADMAP METHOD (PRM); RAPIDLY-EXPLORING RANDOM TREES (RRT); PROBABLISTIC ROADMAP METHOD (PRM); VORONOI GRAPH;

MOTION PLANNING; ALGORITHMS;

EID: 11244278194     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (7)

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4. A. Zelinsky, R.A. Jarvis, J.C. Byme and S. Yuta Planning Paths of Complete Coverage of an Unstructured Environment by a Mobile Robot, Proc. of Int'l Conf. on Advanced Robotics, pp533-538, Tokyo, Japan, 1993.
5. H. Choset and J.W. Burdick. Sensor Based Planning, Part I: The Generalized Voronoi Graph, Proc. of IEEE Int'l. Conf. on Robotics and Automation, Nagoya, Japan, 1995.
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7. J.J. Kuffner and S.M.LaValle. RRT-Connect: An Efficient Approach to Single-Query Path Planning, Proc. of IEEE Int'l Conf. on Robotics and Automation, San Francisco, USA, 2000.