A COVERING PROJECTION FOR ROBOT NAVIGATION
UNDER STRONG ANISOTROPY
ANDREA ANGHINOLFI
Servizio Sistemi Informativi e Telematica
Provincia di Modena
Modena, Italy

LUCA COSTA
Autodesk SpA
Milano, Italy

MASSIMO FERRI
Dept. of Mathematics and ARCES
University of Bologna
Bologna, Italy

ENRICO VIARANI
ARCES
University of Bologna
Bologna, Italy email

Abstract
Path planning can be subject to different types of optimization. Some years ago a German researcher, U. Leuthausser, proposed a new variational method for reducing most types of optimization criteria to one and the same: minimization of path length. This can be done by altering the Riemannian metric of the domain, so that optimal paths (with respect to whatever criterion) are simply seen as shortest. This method offers an extra feature, which has not been exploited so far: it admits direction-dependent criteria.

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 Updated november 23rd, 2010