EquiDistance Diagram: A New Roadmap Method for Path Planning
نویسندگان
چکیده
This paper introduces a novel heuristic nmdmap method for path planning, one that is inspired by the Vomnoi diagmm concept, but easiZy applicable to geneml configurntion spaces. The nmdmap i s formed by connecting the local maxima of a clearance function which is defined using distance finctions. Reaching the roadmap jivm any jive configurntion is achieved by applying the continuous active-set optimization algorithm to the maximization of the clearnnce finction. Preliminary ezperiments with the new nmdmap algorithm point to its potential utility in solving prnctical path planning pmblems.
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تاریخ انتشار 1999