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|
|Number of pages||10|
|ISBN (Print)||3540645748, 9783540645740|
|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
|Name||Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)|
|Other||11th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, IEA-1998-AIE|
|Period||6/1/98 → 6/4/98|
Bibliographical notePublisher Copyright:
© Springer-Verlag Berlin Heidelberg 1998.