Reliable Computing

, Volume 7, Issue 1, pp 1–15

Path Planning Using Intervals and Graphs

  • Luc Jaulin
Article

DOI: 10.1023/A:1011400431065

Cite this article as:
Jaulin, L. Reliable Computing (2001) 7: 1. doi:10.1023/A:1011400431065

Abstract

In this paper, the problem of interest is to find a path with given endpoints such that the path lies inside a compact set S given by nonlinear inequalities. The proposed approach uses interval analysis for characterizing S by subpavings (union of boxes) and graph algorithms for finding short feasible paths. As an illustration, the problem of finding collision-free paths for a polygonal rigid object through a space that is cluttered with segment obstacles is considered.

Copyright information

© Kluwer Academic Publishers 2001

Authors and Affiliations

  • Luc Jaulin
    • 1
    • 2
  1. 1.Laboratoire des Signaux et SystèmesCNRS, Supélec, Plateau de MoulonGif-sur-Yvette CedexFrance
  2. 2.Laboratoire d'Ingénierie des Systèmes AutomatisésISTIAAngersFrance