Accession Number : ADA141779

Title :   Path Relaxation: Path Planning for a Mobile Robot.

Descriptive Note : Interim technical rept.,

Corporate Author : CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST

Personal Author(s) : Thorpe,C E

PDF Url : ADA141779

Report Date : Apr 1984

Pagination or Media Count : 32

Abstract : Path Relaxation is a method of planning safe paths around obstacles for mobile robots. It works in two steps: a global grid search that finds a rough path, followed by a local relaxation step that adjusts each node on the path to lower the overall path cost. The representation used by Path Relaxation allows an explicit tradeoff among length of path, clearance away from obstacles, and distance traveled through unmapped areas. (Author)

Descriptors :   *Algorithms, *Paths, *Collision avoidance, *Robots, Mobile, Grids, Relaxation, Planning, Global, Safety

Subject Categories : Theoretical Mathematics
      Bionics

Distribution Statement : APPROVED FOR PUBLIC RELEASE