NASA NTRS · 19880007007
Heuristic search in robot configuration space using variable metric
Abstract
A method to generate obstacle free trajectories for both mobile robots and linked robots is proposed. The approach generates the shortest paths in a configuration space. The metric in the configuration space can be adjusted to obtain a tradeoff between safety and velocity by imposing extra costs on paths near obstacles.
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Verwer, Ben J. H.. 1987-11-01. Heuristic search in robot configuration space using variable metric. https://ntrs.nasa.gov/citations/19880007007
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