A Reasonable Path Planning via Path Energy Minimization
Masashi Yokozuka and Osamu Matsumoto
Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan
-  P. E. Hart et al., “A Formal Basis for the Heuristic Determination of Minimum Cost Paths,” IEEE Trans. on Systems Science and Cybernetics, Vol.4, pp. 100-107, 1968.
-  A. Stentz, “Optimal and Efficient Path Planning for Partially-Known Environments,” Proc. of the Int. Conf. on Robotics and Automation, pp. 3310-3317, 1994.
-  S. Koenig et al., “Fast Replanning for Navigation in Unknown Terrain,” Trans. on Robotics, Vol.21, Issue 3, pp. 354-363, 2005.
-  L. E. Kavraki et al., “Probabilistic roadmaps for path planning in high-dimensional configuration spaces,” IEEE Trans. on Robotics and Automation, Vol.12, Issue 4, pp. 566-580, 1996.
-  S. M. Lavalle, “Rapidly-exploring random trees: A new tool for path planning,” Technical Report, Computer Science Department, Iowa State University, 1998.
-  S. Karaman et al., “Incremental sampling-based algorithms for optimal motion planning,” in Robotics, Science and Systems (RSS), 2010.
-  S. Choudhury et al., “RRT*-AR: Sampling-Based Alternate Routes Planning with Applications to Autonomous Emergency Landing of a Helicopter,” Proc. of Int. Conf. on Robotics and Automation, 2013.
-  S. Quinlan et al., “Elastic Bands: Connecting Path Planning and Control,” Proc. of Int. Conf. on Robotics and Automation, pp. 802-807, 1993.
-  T.M. Howard et al., “Optimal rough terrain trajectory generation for wheeled mobile robots,” The Int. J. of Robotics Research, Vol.26, No.2, pp. 141-166, 2007.
-  D. Ferguson et al., “Motion planning in urban environments: Part 1,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1063-1069, 2008.
-  S. Gulati et al., “A Framework for Planning Comfortable and Customizable Motion of an Assistive Mobile Robot,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 4253-4260, 2009.
-  C. I. Connolly et al., “Path Planning Using Laplace’s Equation,” Proc. of Int. Conf. on Robotics and Automation, pp. 2102-2106, 1990.
-  L. Huang, “Velocity Planning for a Mobile Robot to Track aMoving Target – a Potential Field Approach,” Robotics and Autonomous Systems, Vol.57, pp. 55-63, 2009.
-  W. Kumahara et al., “Navigation System for Mobile Robot Based on Local Path Information and Pedestrian Flow in Dynamic Unknown Environment,” Robotics Symposia, 2013 (in Japanese).
-  M. Seder et al., “Dynamic window based approach to mobile robot motion control in the presence of moving obstacles,” Proc. of Int. Conf. on Robotics and Automation, 2007.
-  M. Montemerlo et al., “Dynamic Environment,” in Section 5 of “FastSLAM: Scalable Method for the Simultaneous Localization and Mapping Problem in Robotics,” Springer tracts in advanced robotics, Vol.27, 2006.
-  R. Kurazume et al., “Target tracking using SIR and MCMC particle filters by multiple cameras and laser range finders,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3838-3844, 2008.
-  A. Fod et al., “Laser-Based People Tracking,” Proc. of Int. Conf. on Robotics and Automation, pp. 3024-3029, 2002.
-  D. Ferguson et al., “Detection, Prediction, and Avoidance of Dynamic Obstacles in Urban Environments,” Proc. of the 2008 IEEE Intelligent Vehicles Symposium, pp. 1149-1154, June 2008.
-  S. J. Osher et al. “Level Set Methods and Dynamic Implicit Surfaces,” Springer, 2002.
-  C. M. Bishop, “Regularization in Neural Network,” in Section 5.5 of “Pattern Recognition and Machine Learning,” Springer, 2006.
-  T. Tsubouchi et al., “Planning and navigation by a mobile robot in the presence of multiple moving obstacles and their velocities,” J. of the Robotics Society of Japan, Vol.12, No.7, pp. 1029-1037, 1994 (in Japanese).
-  M. Yokozuka et al., “Sub-Map Dividing and Realignment Fast-SLAM by Blocking Gibbs MCEM for Large 3-D Grid Mapping,” Advanced Robotics, Vol.26, No.14, 2012.
-  M. Yokozuka et al., “Robotic Wheelchair with Autonomous Traveling Capability for Transportation Assistance in an Urban Environment,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3838-3844, 2012.
Supporting Online Materials:[a] Willow Garage, Path Optimization by Elastic Band, 2010.
[Accessed December 3, 2013]
This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.