Path Relaxation: Path Planning for a Mobile Robot.

Abstract

Path Relaxation is a method of planning safe paths around obstacles for mobile robots. It works in two steps: a global grid search that finds a rough path, followed by a local relaxation step that adjusts each node on the path to lower the overall path cost. The representation used by Path Relaxation allows an explicit tradeoff among length of path, clearance away from obstacles, and distance traveled through unmapped areas. (Author)

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Document Details

Document Type
Technical Report
Publication Date
Apr 01, 1984
Accession Number
ADA141779

Entities

People

  • C. E. Thorpe

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Accuracy
  • Algorithms
  • Autonomous Guidance
  • Clearances
  • Collision Avoidance
  • Collisions
  • Computer Stereo Vision
  • Computers
  • Guidance
  • Military Research
  • Motion Planning
  • Navigation
  • Robotics
  • Robots
  • Shape
  • Vehicles

Fields of Study

  • Computer science

Readers

  • Applied Combinatorial Optimization and Logic Circuit Design.
  • Computer Vision.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy