Path planning in distorted configuration space

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3 Citations (Scopus)

Abstract

An effective algorithm for path planning is introduced based on a novel concept, the distorted configuration space (DC-space), where all obstacles deform into dimensionless geometric objects. Path planning in this space can be conducted by simply connecting the starting position and ending position with a straight line. This linear path in the DC-space is then mapped back into a feasible in the original C-space. The advantage of this approach is that no trial-and-error or iteration is needed while a feasible path can be found directly if it exists. An algorithm with general formulas is derived. Examples in 2D and 3D are provided to validate this concept and algorithm.

Original languageEnglish
Pages (from-to)1585-1597
Number of pages13
JournalRobotica
Volume35
Issue number3
DOIs
Publication statusPublished - Jul 2017

Keywords

  • Automation
  • Mobile robots
  • Motion planning
  • Navigation
  • Path planning

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