Exploring the Interaction of Geometry and Search in Path Planning.

摘要: Abstract : This thesis addressed the problem of developing path planning algorithms that are both efficient and well-behaved. We proposed a novel approach in which we solve by finding solving an appropriate abstraction original problem. argued order for this to be efficient, tighter integration geometric reasoning search is essential. developed evidence, theoretical experimental, support argument. In particular, investigated in-depth two approaches generating abstractions: constraint approximation (in context robot motion planning); decomposition pipe routing). For each these approaches, tightly integrate with many issues raised integration. These have been implemented tested system routing system.