Chapter

ICT Innovations 2013

Volume 231 of the series Advances in Intelligent Systems and Computing pp 111-120

Optimization Techniques for Robot Path Planning

  • Aleksandar ShurbevskiAffiliated withDepartment of Applied Mathematics and Physics, Kyoto University Email author 
  • , Noriaki HirosueAffiliated withDepartment of Applied Mathematics and Physics, Kyoto University
  • , Hiroshi NagamochiAffiliated withDepartment of Applied Mathematics and Physics, Kyoto University

* Final gross prices may vary according to local VAT.

Get Access

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.

Keywords

Robot path planning combinatorial optimization multi-sphere scheme packing problems