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Feasible map algorithm for path planning
Cheng, H; Cheng, HD
Source PublicationROBOTICS AND AUTONOMOUS SYSTEMS
1996-05-01
Volume17Issue:3Pages:149-170
SubtypeArticle
AbstractThis paper discusses a novel path-planning algorithm, the feasible map algorithm (FMA), for the classical mover's problem in any dimension using a feasible map representation of a configuration space, The topological structure of a configuration space is derived by the shrink transformation. Path planning will be done at two levels: (1) to find a feasible path in a feasible map, and (2) to transform the feasible path in the feasible map into a feasible path in the configuration space. When the feasible map is established, the FMA needs little time to obtain a feasible path according to any starting and ending configurations. The algorithm is time saving, and it can solve a much wider class of problems with high dimension and complex topological structure, Two detailed FMAs are given, one is in a sphere world and the other is in discretized form.
WOS HeadingsScience & Technology ; Technology
WOS KeywordAMIDST POLYGONAL BARRIERS ; PIANO MOVERS PROBLEM ; SPACE ; REPRESENTATION ; OBSTACLES ; MOTION
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Computer Science ; Robotics
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Robotics
WOS IDWOS:A1996UQ89700003
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9761
Collection09年以前成果
Affiliation1.CHINESE ACAD SCI, INST AUTOMAT, BEIJING, PEOPLES R CHINA
2.UTAH STATE UNIV, DEPT COMP SCI, LOGAN, UT 84322 USA
Recommended Citation
GB/T 7714
Cheng, H,Cheng, HD. Feasible map algorithm for path planning[J]. ROBOTICS AND AUTONOMOUS SYSTEMS,1996,17(3):149-170.
APA Cheng, H,&Cheng, HD.(1996).Feasible map algorithm for path planning.ROBOTICS AND AUTONOMOUS SYSTEMS,17(3),149-170.
MLA Cheng, H,et al."Feasible map algorithm for path planning".ROBOTICS AND AUTONOMOUS SYSTEMS 17.3(1996):149-170.
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