Topic
Fast path
About: Fast path is a research topic. Over the lifetime, 1728 publications have been published within this topic receiving 34956 citations.
Papers published on a yearly basis
Papers
TL;DR: The algorithm described in this paper is the outcome of an endeavor to answer the following question: Is it possible to find procedures which would enable a computer to solve efficiently path-connection problems inherent in logical drawing, wiring diagramming, and optimal route finding?
Abstract: The algorithm described in this paper is the outcome of an endeavor to answer the following question: Is it possible to find procedures which would enable a computer to solve efficiently path-connection problems inherent in logical drawing, wiring diagramming, and optimal route finding? The results are highly encouraging. Within our framework, we are able to solve the following types of problems: 1) To find a path between two points so that it crosses the least number of existing paths. 2) To find a path between two points so that it avoids as much as possible preset obstacles such as edges. 3) To find a path between two points so that the path is optimal with respect to several properties; for example, a path which is not only one of those which cross the fewest number of existing paths, but, among these, is also one of the shortest. The minimal-distance solution has been programmed on an IBM 704 computer, and a number of illustrations are presented. The class of problems solvable by our algorithm is given in a theorem in Section III. A byproduct of this algorithm is a somewhat remote, but unexpected, relation to physical optics. This is discussed in Section VI.
1,613 citations
1 Feb 1992
TL;DR: A path-planning algorithm for the classical mover's problem in three dimensions using a potential field representation of obstacles is presented and solves a much wider class of problems than other heuristic algorithms and at the same time runs much faster than exact algorithms.
Abstract: A path-planning algorithm for the classical mover's problem in three dimensions using a potential field representation of obstacles is presented. A potential function similar to the electrostatic potential is assigned to each obstacle, and the topological structure of the free space is derived in the form of minimum potential valleys. Path planning is done at two levels. First, a global planner selects a robot's path from the minimum potential valleys and its orientations along the path that minimize a heuristic estimate of the path length and the chance of collision. Then, a local planner modifies the path and orientations to derive the final collision-free path and orientations. If the local planner fails, a new path and orientations are selected by the global planner and subsequently examined by the local planner. This process is continued until a solution is found or there are no paths left to be examined. The algorithm solves a much wider class of problems than other heuristic algorithms and at the same time runs much faster than exact algorithms (typically 5 to 30 min on a Sun 3/260). >
729 citations
TL;DR: In this paper, a solution procedure for the Elementary Shortest Path Problem with Resource Constraints (ESPPRC) is proposed, which extends the classical label correcting algorithm originally developed for the relaxed (nonelementary) path version of this problem.
Abstract: In this article, we propose a solution procedure for the Elementary Shortest Path Problem with Resource Constraints (ESPPRC). A relaxed version of this problem in which the path does not have to be elementary has been the backbone of a number of solution procedures based on column generation for several important problems, such as vehicle routing and crew pairing. In many cases relaxing the restriction of an elementary path resulted in optimal solutions in a reasonable computation time. However, for a number of other problems, the elementary path restriction has too much impact on the solution to be relaxed or might even be necessary. We propose an exact solution procedure for the ESPPRC, which extends the classical label correcting algorithm originally developed for the relaxed (nonelementary) path version of this problem. We present computational experiments of this algorithm for our specific problem and embedded in a column generation scheme for the classical Vehicle Routing Problem with Time Windows. © 2004 Wiley Periodicals, Inc. NETWORKS, Vol. 44(3), 216–229 2004
606 citations
TL;DR: The shortest-path problem in networks in which the delay (or weight) of the edges changes with time according to arbitrary functions is considered and algorithms for finding the shortest path and minimum delay under various waiting constraints are presented.
Abstract: In this paper the shortest-path problem in networks in which the delay (or weight) of the edges changes with time according to arbitrary functions is considered. Algorithms for finding the shortest path and minimum delay under various waiting constraints are presented and the properties of the derived path are investigated. It is shown that if departure time from the source node is unrestricted, then a shortest path can be found that is simple and achieves a delay as short as the most unrestricted path. In the case of restricted transit, it is shown that there exist cases in which the minimum delay is finite, but the path that achieves it is infinite.
586 citations
8 May 1994
TL;DR: This paper presents a new approach to path planning for robots with many degrees of freedom (DOF) operating in known static environments that is particularly attractive for many-DOF robots which have to perform many successive point-to-point motions in the same environment.
Abstract: This paper presents a new approach to path planning for robots with many degrees of freedom (DOF) operating in known static environments. The approach consists of a preprocessing and a planning stage. Preprocessing, which is done only once for a given environment, generates a network of randomly, but properly selected, collision-free configurations (nodes). Planning then connects any given initial and final configurations of the robot to two nodes of the network and computes a path through the network between these two nodes. Experiments show that after paying the preprocessing cost (on the order of hundreds of seconds), planning is extremely fast (on the order of a fraction of a second for many difficult examples involving a 10-DOF robot). The approach is particularly attractive for many-DOF robots which have to perform many successive point-to-point motions in the same environment. >
470 citations
Related Topics (5)
Performance Metrics
| Year | Papers |
|---|---|
| 2025 | 1 |
| 2024 | 2 |
| 2023 | 14 |
| 2022 | 30 |
| 2021 | 23 |
| 2020 | 27 |