Multivalued distance maps for motion planning on surfaces with moving obstacles

Ron Kimmel, Nahum Kiryati, Alfred M. Bruckstein

Research output: Contribution to journalArticlepeer-review


This paper presents a new algorithm for planning the time-optimal motion of a robot traveling with limited velocity from a given location to a given destination on a surface in the presence of moving obstacles. Additional constraints such as space variant terrain traversability and fuel economy can be accommodated. A multivalued distance map is defined and applied in computing optimal trajectories. The multivalued distance map incorporates constraints imposed by the moving obstacles, surf ace topography, and terrain traversability. It is generated by an efficient numerical curve propagation technique.

Original languageEnglish
Pages (from-to)427-436
Number of pages10
JournalIEEE Transactions on Robotics and Automation
Issue number3
StatePublished - 1998
Externally publishedYes


  • Front propagation
  • Level sets
  • Moving obstacles
  • Multivalued distance map
  • Path planning


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