Abstract
We present a novel method for robot motion planning that constructs a network of collision free paths using a randomized search over a potential field in Configuration Space. Our method finds local minima and then connects them to form a graph, which we call a roadmap. We use a gradient search scheme to find the local minima very efficiently and accurately. To find a path between two configurations, it is then a simple matter to connect given start and goal configurations to the roadmap and to use a standard graph search algorithm to search the roadmap. The construction of the roadmap can be done in parallel with very little communication.
| Original language | English (US) |
|---|---|
| Title of host publication | Tasks and Methods in Applied Artificial Intelligence - 11 th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, IEA-1998-AIE, Proceedings |
| Editors | Moonis Ali, Angel Pasqual del Pobil, Jose Mira |
| Publisher | Springer Verlag |
| Pages | 85-94 |
| Number of pages | 10 |
| ISBN (Print) | 3540645748, 9783540645740 |
| DOIs | |
| State | Published - 1998 |
| Event | 11th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, IEA-1998-AIE - Benicassim, Spain Duration: Jun 1 1998 → Jun 4 1998 |
Publication series
| Name | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
|---|---|
| Volume | 1416 |
| ISSN (Print) | 0302-9743 |
| ISSN (Electronic) | 1611-3349 |
Other
| Other | 11th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, IEA-1998-AIE |
|---|---|
| Country/Territory | Spain |
| City | Benicassim |
| Period | 6/1/98 → 6/4/98 |
Bibliographical note
Publisher Copyright:© Springer-Verlag Berlin Heidelberg 1998.