Title:
On Finding Globally Optimal Paths through Weighted Colored Graphs
On Finding Globally Optimal Paths through Weighted Colored Graphs
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Author(s)
Wooden, David
Egerstedt, Magnus B.
Egerstedt, Magnus B.
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Abstract
In this paper, we present a method for finding
a globally optimal path through a colored graph. Optimal
here means that, for a given path, the induced path coloring
corresponds to an equivalent class. A total ordering is placed
over these equivalent classes, and the edge weights are simply tie
breakers within the classes. Optimality is achieved by mapping
the class, or color, of each edge in combination with its weight
to a real number. As a result, optimal paths can be computed
using just the new weight function and standard edge relaxation
methods (e.g. Dijkstra’s Algorithm). The motivation for this
research is the task of planning paths for mobile autonomous
robots through outdoor environments with unknown and varied
terrain.
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Date Issued
2006-12
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Proceedings