An algorithm for planning collision-free paths among polyhedral obstacles
Communications of the ACM
Robot Motion Planning
Spatial Planning: A Configuration Space Approach
IEEE Transactions on Computers
Robot Path Planning in Kernel Space
ICANNGA '07 Proceedings of the 8th international conference on Adaptive and Natural Computing Algorithms, Part II
Heuristic algorithm for robot path planning based on a growing elastic net
EPIA'05 Proceedings of the 12th Portuguese conference on Progress in Artificial Intelligence
Multiple robot path planning for robot soccer
TAINN'05 Proceedings of the 14th Turkish conference on Artificial Intelligence and Neural Networks
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The development of a path planning algorithm based on an approximate cell decomposition of the workspace is presented. The free space of the robot is recursively decomposed into a set of non-overlapping cells through a real space renormalization procedure. The algorithm includes a previously calculated data base of heuristics defining the optimal paths that cross a cell between any two predefined edge points. The first step of the algorithm consists on the computation of a straight path from the initial configuration to the goal position. This initial proposed path is further recursively corrected in the following steps until a definitive path is obtained. The recursive process is stopped when the complete path lies on a free collision space or the size of the cell reaches some predefined value of resolution. The algorithm of path planning was experimentally tested on a workspace cluttered with thirty randomly distributed obstacles. In each case, with very little computational effort a good free collision path is calculated. The results indicate that the proposed path planning algorithm is very suitable for real time applications.