Abstract
In this chapter we describe a first approach to robot path planning which we name the roadmap approach. This approach is based on the following general idea: capture the connectivity of the robot’s free space C free in the form of a network of one-dimensional curves — the roadmap — lying in C free or its closure cl(C free ). Once constructed, a roadmap R is used as a set of standardized paths. Path planning is reduced to connecting the initial and goal configurations to R, and searching R for a path.
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© 1991 Springer Science+Business Media New York
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Latombe, JC. (1991). Roadmap Methods. In: Robot Motion Planning. The Springer International Series in Engineering and Computer Science, vol 124. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-4022-9_4
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DOI: https://doi.org/10.1007/978-1-4615-4022-9_4
Publisher Name: Springer, Boston, MA
Print ISBN: 978-0-7923-9206-4
Online ISBN: 978-1-4615-4022-9
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