We describe a simple technique to speed up optimal path planning on Euclidean-cost grids and lattices. Many robot navigation planning algorithms build approximate grid representations of the environment and use Djikstra’s algorithm or A* to search the resulting embedded graph for an optimal path between given start and goal locations. However, the classical implementations of these search algor...

Sampling-based motion planning received increasing attention during the last decade. In particular, some of the leading paradigms, such the Probabilistic RoadMap (PRM) and the Rapidly-exploring Random Tree (RRT) algorithms, have been demonstrated on several robotic platforms, and found applications well outside the robotics domain. However, a large portion of this research effort has been limit...

Planning landmarks are facts that must be true at some point in every solution plan. Previous work has very successfully exploited planning landmarks in satisficing (non-optimal) planning. We propose a methodology for deriving admissible heuristic estimates for cost-optimal planning from a set of planning landmarks. The resulting heuristics fall into a novel class of multi-path dependent heuris...

Planning landmarks are facts that must be true at some point in every solution plan. Previous work has very successfully exploited planning landmarks in satisficing (non-optimal) planning. We propose a methodology for deriving admissible heuristic estimates for cost-optimal planning from a set of planning landmarks. The resulting heuristics fall into a novel class of multi-path dependent heuris...

VII. CONCLUSION In this paper, optimal path planning for robot manipulator is presented that utilizes a variational technique. A simplified robot arm is considered to facilitate geometric collision checking scheme. This is incorporated in the variational technique to develop a collision avoidance strategy. The collision checking scheme is rather stringent. However, it reduces the computational ...

| This paper addresses trajectory planning in a dynamic workspace, i.e. motion planning for a robot subject to dynamic constraints and moving in a workspace with moving obstacles. First is introduced the novel concept of state-time space, i.e. the state space of the robot augmented of the time dimension. Like connguration space which is a tool to formulate path planning problems, state-time spa...

| This paper addresses trajectory planning in dynamic workspaces, i.e. trajectory planning for a robot subject to dynamic constraints and moving in a workspace with moving obstacles. First is introduced the novel concept of state-time space, i.e. the state space of the robot augmented of the time dimension. Like the concept of connguration space which is a tool to formulate path planning proble...

A novel path planning approach is presented to solve optimal path in stochastic, time-varying networks under priori traffic information. Most existing studies make use of dynamic programming to find optimal path. However, those methods are proved to be unable to obtain global optimal value, moreover, how to design efficient algorithms is also another challenge. This paper employs a decision the...

Graph theoretic approaches plays important role in the path planning problems. The usefulness of Graph Theoretic approaches mainly the voronoi diagram is provided for the path planning in static and dynamic environment in this paper. Voronoi Diagram plays important role in computing the optimal path between the source & destination in static as well as dynamic environment. So, through the liter...

This paper investigates an improved genetic algorithm on multiple automated guided vehicle (multi-AGV) path planning. The innovations embody in two aspects. First, three-exchange crossover heuristic operators are used to produce more optimal offsprings for getting more information than with the traditional two-exchange crossover heuristic operators in the improved genetic algorithm. Second, dou...