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A variational dynamic programming approach to robot-path planning with a distance-safety criterion

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2 Author(s)
S. -H. Suh ; Dept. of Ind. Eng., Pohang Inst. of Sci. & Technol., South Korea ; K. G. Shin

An approach to robot-path planning is developed by considering both the traveling distance and the safety of the robot. A computationally-efficient algorithm is developed to find a near-optimal path with a weighted distance-safety criterion by using a variational calculus and dynamic programming (VCDP) method. The algorithm is readily applicable to any factory environment by representing the free workspace as channels. A method for deriving these channels is also proposed. Although it is developed mainly for two-dimensional problems, this method can be easily extended to a class of three-dimensional problems. Numerical examples are presented to demonstrate the utility and power of this method

Published in:

IEEE Journal on Robotics and Automation  (Volume:4 ,  Issue: 3 )