Minimizing Task-Space Fréchet Error via Efficient Incremental Graph Search
نویسندگان
چکیده
منابع مشابه
Minimizing Task Space Frechet Error via Efficient Incremental Graph Search
We present an anytime algorithm that generates a collision-free configuration-space path that closely follows a desired path in task space, according to the discrete Fréchet distance. By leveraging tools from computational geometry, we approximate the search space using a cross-product graph. We use a variant of Dijkstra’s graph-search algorithm to efficiently search for and iteratively improve...
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ژورنال
عنوان ژورنال: IEEE Robotics and Automation Letters
سال: 2019
ISSN: 2377-3766,2377-3774
DOI: 10.1109/lra.2019.2899668