Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Practical methods of optimization; (2nd ed.)
Practical methods of optimization; (2nd ed.)
A Procedure for Detecting Intersections of Three-Dimensional Objects
Journal of the ACM (JACM)
Robot Motion Planning
Solid Modeling with Designbase: Theory and Implementation
Solid Modeling with Designbase: Theory and Implementation
A note on “Solving the find-path problem by good representation of free space”
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
A generalized real-time obstacle avoidance method without the Cspace calculation
Journal of Computer Science and Technology
Robot path planning in uncertain environments based on particle swarm optimization
CEC'09 Proceedings of the Eleventh conference on Congress on Evolutionary Computation
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In this paper, two novel approaches to unmanned underwater vehicle path planning are presented. The main idea of the first approach, referred to as Constrained Optimisation (CO) is to represent the free space of the workspace as a set of inequality constraints using vehicle configuration variables. The second approach converts robot path planning into a Semi-infinite Constrained Optimisation (SCO) problem. The function interpolation technique is adopted to satisfy the start and goal configuration requirements. Mathematical foundations for Constructive Solid Geometry (CSG), Boolean operations and approximation techniques are also presented to reduce the number of constraints, and to avoid local minima. The advantages of these approaches are that the mature techniques developed in optimisation theory which guarantee convergence, efficiency and numerical robustness can be directly applied to the robot path planning problem. Simulation results have been presented.