Path planning in an uncertain environment

Details Path planning in an uncertain environment Path planning in an uncertain environment

1995-05-30

1998-06-09

Ruggiero, Joseph

Boots, shoes, and leggings

395 90, 701 26, 701301, G06F 1900

Patent

active

057645108

ABSTRACT:
Configuration spaces, representing alternate possibilities for an environment in which an object is to move, are combined to create a probabilistic representation of all of the alternate possibilities. The probabilistic representation is used to plan optimal motion, with uncertainties being resolved at sensing points.

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Dorst et al--"The Geometrical Structure of Path Planning Problems", Intelligent Autohomous Systems, vol. 2. pp. 155-167, Amsterdam 1989.
Dorst et al--"Optimal Path Planning By Cost Wave Propagation in Metric Configuration Space", Mobile Robots III, Spie Proceedings, vol. 1007 pp. 186-197, Nov, 1988.
Khatib, "Real-time Obstacle Avoidance for Manipulators and Mobile Robots", Int. J. Robotics Research, 5(1) :90-98, 1986.
Trovato, "Differential A* : an Adaptive Search Method Illustrated with Robot Path Planning for Moving Obstacles and Goals, and an Uncertain Environment ", In IEEE Tools for AI, pp. 624-639, Fairfax VA Oct. 1989.

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