Extracting optimal paths from roadmaps for motion planning

Jinsuck Kim, Roger A. Pearce, Nancy M. Amato

Research output: Contribution to journalConference articlepeer-review


We present methods for extracting optimal paths from motion planning roadmaps. Our system enables any combination of optimization criteria, such as collision detection, kinematic/dynamic constraints, or minimum clearance, and relaxed definitions of the goal state, to be used when selecting paths from roadmaps. Our algorithm is an augmented version of Dijkstra's shortest path algorithm which allows edge weights to be defined relative to the current path. We present simulation results maximizing minimum path clearance, minimizing localization effort, and enforcing kinematic/dynamic constraints.

Original languageEnglish (US)
Pages (from-to)2424-2429
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - Dec 9 2003
Externally publishedYes
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: Sep 14 2003Sep 19 2003

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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