Calculation of the shortest-time path for traversal of an obstacle course by a robot

Rishi T. Khar; Ernest L. Hall

doi:10.1117/12.571219

25 October 2004 Calculation of the shortest-time path for traversal of an obstacle course by a robot

Rishi T. Khar, Ernest L. Hall

Proceedings Volume 5608, Intelligent Robots and Computer Vision XXII: Algorithms, Techniques, and Active Vision; (2004) https://doi.org/10.1117/12.571219
Event: Optics East, 2004, Philadelphia, Pennsylvania, United States

Abstract

The problem of sequencing the movement of a robot so that it can carry out a given task in the minimum required time is of considerable importance, because of the efficiency of such a solution. The problem considered is an application of this idea, as applied to the context of the Navigation Challenge in the International Guided Vehicle Competition (IGVC). The objective is to find a sequence of points and a path in space that the robot has to traverse in order to complete the objective of the competition. A mathematical programming based model and example solution for the Bearcat Robot is given. The challenge in this event is for a robot to autonomously travel, using Differential GPS, from a starting point to a number of target destinations, while recognizing and avoiding the obstacles present, given only a map showing the coordinates of those targets, in the least possible time. The solution can be implemented easily using the Excel Solver, or AMPL. These solutions are practically applicable and easy to run in the competition since they give the sequence of points to be followed. In addition, the program is used together with a heuristic for situations where there are velocity constraints on the robot.

Citation Download Citation

Rishi T. Khar and Ernest L. Hall "Calculation of the shortest-time path for traversal of an obstacle course by a robot", Proc. SPIE 5608, Intelligent Robots and Computer Vision XXII: Algorithms, Techniques, and Active Vision, (25 October 2004); https://doi.org/10.1117/12.571219

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available