{"title":"Planning under uncertainty","authors":"A. Basu, Ashraf Elnagar","doi":"10.1109/ICAR.1991.240360","DOIUrl":null,"url":null,"abstract":"An approach to addressing the problem of local path planning given acceleration constraints is presented. The concept of safety is introduced to design a planning strategy. A path which maximizes the product of safety based on local information, and attraction towards the goal, is chosen. The safety function depends on the acceleration bounds. The attraction towards the goal depends on the distance from the goal. The safety optimizing path planning technique resembles real life behavior.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1991-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR.1991.240360","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
An approach to addressing the problem of local path planning given acceleration constraints is presented. The concept of safety is introduced to design a planning strategy. A path which maximizes the product of safety based on local information, and attraction towards the goal, is chosen. The safety function depends on the acceleration bounds. The attraction towards the goal depends on the distance from the goal. The safety optimizing path planning technique resembles real life behavior.<>
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