Shortest distance problems in graphs using history-dependent transition costs with application to kinodynamic path planning

Authors:
Raghvendra V. Cowlagi;Panagiotis Tsiotras
Affiliations:
School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA;Faculty of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

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Abstract

A new algorithm is presented to compute the shortest path on a graph when the node transition costs depend on the prior history of the path to the current node. The algorithm is applied to solve path planning problems with curvature constraints.