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Path Relaxation: Path Planning for a Mobile Robot
Open accessAbstract
Path Relaxation is a method of planning safe paths around obstacles for mobile robots. It works in two steps: a global grid search that finds a rough path, followed by a local relaxation step that adjusts each node on the path to lower the overall path cost. The representation used by Path Relaxation allows an explicit tradeoff among length of path, clearance away from obstacles, and distance traveled through unmapped areas.
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Citations
Cited by
High resolution maps from wide angle sonar
Moravec, H., & Elfes, A. (2005) · Proceedings. 1985 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.1985.1087316 · Cited by 1,772
Sonar-based real-world mapping and navigation
Elfes, A. (1987) · IEEE Journal on Robotics and Automation · doi:10.1109/jra.1987.1087096 · Cited by 1,397
Real-time obstacle avoidance for fast mobile robots
Borenstein, J., & Koren, Y. (1989) · IEEE Transactions on Systems, Man, and Cybernetics · doi:10.1109/21.44033 · Cited by 1,258
Integrated path planning and dynamic steering control for autonomous vehicles
Krogh, B., & Thorpe, C. (1986) · Proceedings. 1986 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.1986.1087444 · Cited by 259
Self-citation
Metadata
- Authors
- Thorpe, C., & Matthies, L.
- Venue
- OCEANS 1984
- Publisher
- IEEE
- Published
- 1984
- Pages
- 576-581
- OpenAlex
- W1513657552
- Cited by
- 185
- References
- 0
- FWCI
- 16.79
- Type
- conference paper
- Language
- en
- Open access
- green
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- Thorpe, C., & Matthies, L. (1984). Path Relaxation: Path Planning for a Mobile Robot. OCEANS 1984. https://doi.org/10.1109/oceans.1984.1152243
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
