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EquiDistance Diagram - A New Roadmap Method for Path Planning

Keerthi, SS and Ong, CJ and Huang, E and Gilbert, EG (1999) EquiDistance Diagram - A New Roadmap Method for Path Planning. In: 1999 IEEE International Conference on Robotics and Automation, 10-15 May, Detroit,Michigan, Vol.1, 682-687.


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This paper introduces a novel heuristic roadmap method for path planning, one that is inspired by the Voronoi diagram concept, but easily applicable to general configuration spaces. The roadmap is formed by connecting the local maxima of a clearance function which is defined using distance functions. Reaching the roadmap from any free configuration is achieved by applying the continuous active-set optimization algorithm to the maximization of the clearance function. Preliminary experiments with the new roadmap algorithm point to its potential utility in solving practical path planning problems.

Item Type: Conference Paper
Publisher: IEEE
Additional Information: Copyright 1990 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Department/Centre: Division of Electrical Sciences > Computer Science & Automation
Date Deposited: 06 Mar 2006
Last Modified: 19 Sep 2010 04:24
URI: http://eprints.iisc.ac.in/id/eprint/5779

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