Abstract
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.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
Keywords
HeuristicsPath (computing)Motion planningComputer scienceDynamic programmingMathematical optimizationAny-angle path planningExtension (predicate logic)AlgorithmMathematicsArtificial intelligenceRobot
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Publication Info
- Year
- 2002
- Type
- article
- Pages
- 1839-1846
- Citations
- 37
- Access
- Closed
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Cite This
Jérôme Barraquand,
P. Ferbach
(2002).
Path planning through variational dynamic programming.
Proceedings of the 1994 IEEE International Conference on Robotics and Automation
, 1839-1846.
https://doi.org/10.1109/robot.1994.351193
Identifiers
- DOI
- 10.1109/robot.1994.351193