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Optimal Path Planning Based on Visibility

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Abstract

Various problems associated with optimal path planning for mobile observers such as mobile robots equipped with cameras to obtain maximum visual coverage of a surface in the three-dimensional Euclidean space are considered. The existence of solutions to these problems is discussed first. Then, optimality conditions are derived by considering local path perturbations. Numerical algorithms for solving the corresponding approximate problems are proposed. Detailed solutions to the optimal path planning problems for a few examples are given.

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Authors and Affiliations

  1. Department of Electrical Engineering, University of California, Los Angeles, California

    P.K.C. Wang (Professor)

Authors
  1. P.K.C. Wang
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Wang, P. Optimal Path Planning Based on Visibility. Journal of Optimization Theory and Applications 117, 157–181 (2003). https://doi.org/10.1023/A:1023660608695

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  • DOI: https://doi.org/10.1023/A:1023660608695

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