Photo by bladeoftree from unsplash
This letter presents a deterministic approach for finding the optimal path through a sequence of spatial waypoints while accounting for vertex or turn costs. A case study is presented where… Click to show full abstract
This letter presents a deterministic approach for finding the optimal path through a sequence of spatial waypoints while accounting for vertex or turn costs. A case study is presented where the proposed algorithm is used to determine the optimal path through a sequence of waypoints. This is then compared with the path obtained when considering only two consecutive waypoints at a time. Further, an approximation that uses three waypoints at a time in a staggered manner is described. This approach is shown to be computationally efficient and finds the optimal path even in cases with 2000 waypoints.
Journal Title: IEEE Robotics and Automation Letters
Year Published: 2023
Link to full text (if available)
Share on Social Media: Sign Up to like & get
recommendations!