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.)
Harmonic functions and collision probabilities
International Journal of Robotics Research
A Procedure for Detecting Intersections of Three-Dimensional Objects
Journal of the ACM (JACM)
Feature tracking in video and sonar subsea sequences with applications
Computer Vision and Image Understanding - Special issue on underwater computer vision and pattern recognition
Robot Motion Planning
Solid Modeling with Designbase: Theory and Implementation
Solid Modeling with Designbase: Theory and Implementation
Real-Time Systems
Adaptive Polygonalization of Implicitly Defined Surfaces
IEEE Computer Graphics and Applications
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
On the moving-obstacle path-planning algorithm of Shih, Lee, and Gruver
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
A note on “Solving the find-path problem by good representation of free space”
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Real-time map building and navigation for autonomous robots inunknown environments
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
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An important concept proposed in the early stage of robot path planning field is the shrinking of the robot to a point and meanwhile expanding of the obstacles in the workspace as a set of new obstacles. The resulting grown obstacles are called the Configuration Space (Cspace) obstacles. The find-path problem is then transformed into that of finding a collision free path for a point robot among the Cspace obstacles. However, the research experiences obtained so far have shown that the calculation of the Cspace obstacles is very hard work when the following situations occur: 1. both the robot and obstacles are not polygons and 2. the robot is allowed to rotate. This situation is even worse when the robot and obstacles are three dimensional (3D) objects with various shapes. Obviously a direct path planning approach without the calculation of the Cspace obstacles is strongly needed. This paper presents such a new real-time robot path planning approach which, to the best of our knowledge, is the first one in the robotic community. The fundamental ideas are the utilization of inequality and optimization technique. Simulation results have been presented to show its merits.