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Path planning through variational dynamic programming

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2 Author(s)
J. Barraquand ; Paris Res. Lab., Digital Equipment Corp., Ruel-Malmaison, France ; P. Ferbach

This paper presents a novel approach to path planning. It is a variational technique, consisting of iteratively improving an initial path possibly colliding with obstacles. At each iteration, the path is improved by performing a dynamic programming search in a sub-manifold of the configuration space containing the current path. We call this method variational dynamic programming (VDP). The method can solve difficult high-dimensional path planning problems without using any problem-specific heuristics. More importantly, an extension of VDP can solve manipulator planning problems of unprecedented complexity

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994