Cart (Loading....) | Create Account
Close category search window
 

An Algorithm for Generating Safe and Execution-Optimized Paths

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Guernane, R. ; Dept. Genie Electr. et Electron., Univ. of Boumerdes UMBB, Boumerdes ; Achour, N.

This paper describes a new scheme for generating paths that are optimized for faster execution while keeping a certain amount of clearance away from obstacles. An optimized path is first extracted from multiple query PRM using a Lazy A* algorithm with a weighted Linfin norm, this latter is post-processed to correct its clearance to over a desired threshold in regions where it is geometrically possible. Finally, the path is further optimized using an iterative oversampling and searching algorithm. This iterative algorithm is monotonically convergent. This scheme is applied to extract optimized motions for robot manipulators with clearance requirements.

Published in:

Autonomic and Autonomous Systems, 2009. ICAS '09. Fifth International Conference on

Date of Conference:

20-25 April 2009

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.