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From: prassler@Informatik.TU-Muenchen.DE (Erwin Prassler)
Subject: Re: Robot Motion Planning
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Organization: Technische Universitaet Muenchen, Germany
Date: Mon, 11 May 1992 15:06:37 GMT
Message-ID: <1992May11.150637.29787@Informatik.TU-Muenchen.DE>
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In article <47061@dime.cs.umass.edu> connolly@rabbit.cs.umass.edu (Christopher Ian Connolly) writes:
>In article <25APR92.16425832@twncu865.ncu.edu.tw> center23@twncu865.ncu.edu.tw writes:
>>I am looking for the textbooks or papers about the motion planning of
>>the robot.  Can someone give me any suggestion?  Thank you in advance.
>
>Another method you can try is described in
>
>author="C. I. Connolly and J. B. Burns and R. Weiss",
>title="Path Planning Using Laplace's Equation",
>1990 IEEE Conference on Robotics and Automation
>pages="2102-2106",month="May"
>
>In its simplest form, it consists of repeated averaging over a grid
>representing obstacles and goals.  Gradient descent gives you the
>trajectory, and there are no local minima in the field.  You can also
>use a resistive grid to implement the method.  That's described in
>
>@inproceedings{tarassenko,
>author="L. Tarassenko and A. Blake",
>title="Analogue computation of collision-free paths",
>1991 IEEE Conference on Robotics and Automation
>pages="540-545",month="April"
>
>					-CC
>

you may also want to check the approach in

author = "E.A. Prassler",
title = "Electrical Networks and a Connectionist Approach to Path-finding",
booktitle = "Proc. of the International Conference Connectionism in
Perspective",
publisher = "Amsterdam: Elsevier",
year = "1989".

author = "E.A. Prassler and E.E.Milios",
title = "Parallel Path Planning in Unknown Terrains",
booktitle = "Proceedings of the SPIE's International Symposium on Advances 
in Intelligent Systems", 
volume = "1388",
year = "1990".

author = "E.A. Prassler and E.E.Milios",
title = "Parallel Distributed Robot Navigation in the Presence of Obstacles",
booktitle = "Proceedings of the IEEE Symposium on Parallel and 
Distributed Processing",
year = "1990".

which has been extended to dynamic environments (moving obstacles).

                                                                  -EP


















