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Heuristic search in robot configuration space using variable metricA method to generate obstacle free trajectories for both mobile robots and linked robots is proposed. The approach generates the shortest paths in a configuration space. The metric in the configuration space can be adjusted to obtain a tradeoff between safety and velocity by imposing extra costs on paths near obstacles.
Document ID
19880007007
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Verwer, Ben J. H. (Technische Hogeschool Delft, Netherlands)
Date Acquired
September 5, 2013
Publication Date
November 1, 1987
Publication Information
Publication: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1 153-154 (SEE N88-16360 08-61)
Subject Category
Cybernetics
Accession Number
88N16389
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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IDRelationTitle19880006978Collected WorksThird Conference on Artificial Intelligence for Space Applications, part 1
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