Using Multi-Layer Distance Maps for Motion Planning on Surfaces with Moving Obstacles

R. Kimmel, N. Kiryati, A. M. Bruckstein

Research output: Contribution to journalConference articlepeer-review

Abstract

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 multi-layer distance map is defined and applied in computing optimal trajectories. The multilayer distance map incorporates constraints imposed by the moving obstacles, surface topography and terrain traversability. It is generated by an efficient numerical curve propagation technique.

Original languageEnglish
Pages (from-to)367-372
Number of pages6
JournalProceedings - International Conference on Pattern Recognition
Volume1
DOIs
StatePublished - 1994
Externally publishedYes
EventProceedings of the 12th IAPR International Conference on Pattern Recognition. Part 1 (of 3) - Jerusalem, Isr
Duration: 9 Oct 199413 Oct 1994

Funding

FundersFunder number
Technion-Israel Institute of Technology

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