This paper proposes a novel cell decomposition approach for finding shortest paths through a known, three-dimensional (3-D) environment or conditional shortest paths through an unknown, 3-D environment. A conditional shortest path is a collision-free path of shortest distance which is computed from environmental information which is known at a given time. The proposed 3-D path planning methods are based on a new data structure called the framed-octree and on several techniques of computational geometry. These methods compute a distance transform using a spherical path planning wave in either the L 1 or L1 metric. Our methods combine together the accuracy of three-dimensional, grid-based path planning techniques with the efficiency of octree-based path planning techniques, thereby having the advantages of both kinds of these techniques and avoiding their disadvantages. These methods readily support multiple goals, allow an efficient environmental update strategy, and do not place any unrealistic constraints on either the obstacles or on the environment.
|
5824
|
Introduction to Algorithms
– Cormen, Leiserson, et al.
- 1990
|
|
1560
|
Robot Motion Planning
– Latombe
- 1991
|
|
459
|
A formal basis for the heuristic determination of minimum cost paths
– Hart, Nilsson
- 1968
|
|
410
|
The Complexity of Robot Motion Planning
– Canny
- 1988
|
|
200
|
An Algorithm for Planning Collision-Free Paths Among Polyhedral Obstacles
– Lozano-Perez, Wesley
- 1979
|
|
147
|
Distance transformations in arbitrary dimensions
– Borgefors
- 1984
|
|
124
|
Path-planning strategies for a point mobile automaton moving amidst unknown obstacles of arbitrary shape
– Lumelsky, Stepanov
- 1987
|
|
115
|
Numerical potential field techniques for robot path planning
– Barraquand, Langlois, et al.
- 1992
|
|
111
|
Introduction to Algorithms: A Creative Approach
– Manber
- 1989
|
|
96
|
Preparata and Michael Ian Shamos. Computational Geometry: An Introduction
– Franco
- 1985
|
|
91
|
Motion planning in the presence of moving obstacles
– Reif, Sharir
- 1985
|
|
72
|
Solving the Find-Path Problem by Good Representation of Free Space
– Brooks
- 1983
|
|
54
|
Walking an Unknown Street with Bounded Detour
– Klein
- 1992
|
|
47
|
On the piano movers’ problem: I. The case of a two-dimensional rigid polygonal body moving amidst polygonal barriers
– Schwartz, Sharir
- 1983
|
|
44
|
Multiresolution path planning for mobile robots
– Kambhampati, Davis
- 1986
|
|
43
|
A mobile robot exploration algorithm
– Zelinsky
- 1992
|
|
40
|
Neighbor finding techniques for images represented by quadtrees
– Samet
- 1982
|
|
39
|
Dynamic path planning for a mobile automaton with limited information on the environment
– Lumelsky, Stepanov
- 1986
|
|
37
|
Obstacle avoidance using an octree in the configuration space of a manipulator
– Faverjon
|
|
32
|
A hierarchical strategy for path planning among moving obstacles
– Fujimura, Samet
- 1989
|
|
28
|
Incorporating Range Sensing in the Robot Navigation Function
– Lumelsky, Skewis
- 1990
|
|
17
|
Survey of Collision Avoidance and Ranging Sensors for Mobile Robots
– Everett
- 1989
|
|
14
|
How to look around a corner
– Icking, Klein, et al.
- 1993
|
|
14
|
An overview of quadtrees, octrees, and related hierarchical data structures
– Samet
- 1988
|
|
14
|
Differential A*: An adaptive search method illustrated with robot path planning for moving obstacles and goals, and an uncertain environment
– Trovato
- 1990
|
|
12
|
Robot Navigation: Touching, Seeing and Knowing
– Jarvis, Byrne
- 1986
|
|
12
|
three-dimensional, collision-free motion planning
– Herman, Fast
- 1986
|
|
12
|
A single-exponential upper bound for finding shortest paths in three dimensions
– Reif, Storer
- 1994
|
|
11
|
Papadimitriou and Mihalis Yannakakis. Shortest paths without a map
– Christos
- 1991
|
|
10
|
Hwang and Narendra Ahuja. Gross motion planning—a survey
– Yong
- 1992
|
|
10
|
Motion planning of multiple mobile robots
– Arai, Ota
- 1992
|
|
10
|
Path planning for moving a point object amidst unknown obstacles in a plane: the universal lower bound on worst case path lengths and a classi cation of algorithms
– Sankaranarayanan, Vidyasagar
- 1991
|
|
10
|
Practical path planning among movable obstacles
– Chen, Hwang
- 1991
|
|
7
|
Updating distance maps when objects move
– Boult
- 1987
|
|
7
|
Environment Exploration and Path Planning Algorithms for a Mobile Robot using Sonar
– Zelinsky
- 1991
|
|
7
|
On Motion Planning amidst Transient Obstacles
– Fujimura
- 1992
|
|
6
|
Urhan Jr. Planning Conditional Shortest Paths Through an Unknown Environment: A Framed-Quadtree Approach
– Chen, Szczerba, et al.
- 1995
|
|
6
|
Collision-free real-time path-planning in time varying environment
– Adolphs, Tolle
- 1992
|
|
6
|
Collision avoidance of mobile robots in non-stationary environments
– Kyriakopoulos, Saridis
- 1991
|
|
5
|
Numerical potential eld techniques for robot path planning
– Barraquand, Langlois, et al.
- 1992
|
|
4
|
Motion planning amidst planar moving obstacles
– Aggarwal, Fujimura
- 1994
|
|
3
|
Path planning for a mobile robot
– Alexopoulos, Griffin
- 1992
|
|
3
|
A new algorithm for robot curve-following amidst unknown obstacles, and a generalization of maze-searching
– Sankaranarayanan, Masuda
- 1992
|
|
2
|
Robot navigation in unknown terrains via multiresolution grid maps
– Chan, Tam, et al.
- 1991
|
|
2
|
Path planning for two planar robots moving in unknown environment
– Chien, Xue
- 1992
|
|
2
|
Ilari and Carme Torras. Two-dimensional path planning: A configuration space heuristic approach
– Joan
- 1990
|
|
2
|
Obstacle-free path planning for mobile robots
– Mehrotra, Krause
- 1989
|
|
2
|
A fast path-planning algorithm by synchronizing modification and search of its path graph
– Noborio, Naniwa, et al.
- 1988
|
|
2
|
Tomohide Naniwa, and Suguru Arimoto. A quadtree-based path-planning algorithm for a mobile robot
– Noborio
- 1990
|
|
2
|
Uhran Jr. Determining conditional shortest paths in an unknown, three-dimensional environment using framed-octrees
– Chen, Szczerba, et al.
- 1995
|
|
