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Optimal Path Planning Based on Visibility

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  • P.K.C. Wang

    (University of California)

Abstract

Various problems associated with optimal path planning for mobile observers such as mobile robots equipped with cameras to obtain maximum visual coverage of a surface in the three-dimensional Euclidean space are considered. The existence of solutions to these problems is discussed first. Then, optimality conditions are derived by considering local path perturbations. Numerical algorithms for solving the corresponding approximate problems are proposed. Detailed solutions to the optimal path planning problems for a few examples are given.

Suggested Citation

  • P.K.C. Wang, 2003. "Optimal Path Planning Based on Visibility," Journal of Optimization Theory and Applications, Springer, vol. 117(1), pages 157-181, April.
    • Handle: RePEc:spr:joptap:v:117:y:2003:i:1:d:10.1023_a:1023660608695
    DOI: 10.1023/A:1023660608695
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