Path planning using intervals and graphs

Luc Jaulin (1, 2, 3)

1 STIC - Département STIC [Brest]
2 Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
3 LISA - Laboratoire d'Ingéniérie des Systèmes Automatisés

In this paper, the problem of interest is to find a path with given endpoints such that the path lies inside a compact set S given by nonlinear inequalities. The proposed approach uses interval analysis for characterizing S by subpavings (union of boxes) and graph algorithms for finding short feasible paths. As an illustration, the problem of finding collision-free paths for a polygonal rigid object through a space that is cluttered with segment obstacles is considered.

Mots clés: Configuration space; Connexity; Graph; Interval analysis; Motion planning; Set inversion; Subpavings.; Subpavings

Domaines: Sciences de l'ingénieur [physics]

Luc Jaulin. Path planning using intervals and graphs. Reliable Computing Journal, 2001, 7 (1), pp.1-15. ⟨hal-00845173⟩