=ADD=
=author=
Van Geem; Carl
=title=
Towards a Fast Solution Method for the General Robot Motion Planning Problem using a Manhattan-like Distance Function on a Non-uniform Grid in Configuration Space. (Proposal for Ph.D. Thesis)
=number=
93-66
=year=
1993
=url=
ftp://ftp.risc.uni-linz.ac.at/pub/techreports/1993/93-66.ps.gz
=abstract=
The generalized Piano Mover's Problem can be
extended in several ways, e.g. by taking into
account kinematics and dynamic constraints, by
allowing obstacles to move slightly, by asking for a
path that can be seen as a good pay-off between
safest and shortest path, by planning with
uncertainty, ... All these extensions are usually
treated separately from each other in the
literature. We will consider a combination of some
of these extensions and we will investigate a
direction of research that seems to be suitable for
such combination. The approach plans in
configuration space and is related to the potential
field approach. The potential function however shall
be replaced by an $L^1$-distance-like function on a
non-homogenous higher-dimensional grid. This
distance function shall be computed with a wavefront
expanision algorithm. The approach seems to suit in
a natural way to massively parallel implementation.
=location=
2
=owner=
2
=source=
3
=reftype=
14