Abstract
We present a method for robot path planning in the robot’s configuration space, in the presence of fixed obstacles. Our method employs both combinatorial and gradient-based optimization techniques, but most distinguishably, it employs a Multi-sphere Scheme purposefully developed for two and three-dimensional packing problems. This is a singular feature which not only enables us to use a particularly high-grade implementation of a packing-problem solver, but can also be utilized as a model to reduce computational effort with other path-planning or obstacle avoidance methods.
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Shurbevski, A., Hirosue, N., Nagamochi, H. (2014). Optimization Techniques for Robot Path Planning. In: Trajkovik, V., Anastas, M. (eds) ICT Innovations 2013. ICT Innovations 2013. Advances in Intelligent Systems and Computing, vol 231. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-01466-1_10
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DOI: https://doi.org/10.1007/978-3-319-01466-1_10
Publisher Name: Springer, Heidelberg
Print ISBN: 978-3-319-01465-4
Online ISBN: 978-3-319-01466-1
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