EquiDistance Diagram: A New Roadmap Method for Path Planning

This paper introduces a novel heuristic nmdmap method for path planning, one that is inspired by the Vomnoi diagmm concept, but easiZy applicable to geneml configurntion spaces. The nmdmap is formed by connecting the local maxima of a clearance function which is defined using distance finctions. Reaching the roadmap jivm any jive configurntion is achieved by applying the continuous active-set optimization algorithm to the maximization of the clearnncefinction. Preliminary ezperiments with the new nmdmap algorithm point to its potential utility in solving prnctical path planning pmblems.

• Type: Conference
• Year: 1999
• Where: ICRA
• Authors: S. Sathiya Keerthi, Chong Jin Ong, Eugene Huang, Elmer G. Gilbert
• Keywords: Heuristic Nmdmap Method, ICRA 1999, Path Planning, Robotics, Vomnoi Diagmm Concept