Fast Path Planning In Unstructured, Dynamic, 3-D Worlds

Martin Herman

doi:10.1117/12.964167

26 March 1986 Fast Path Planning In Unstructured, Dynamic, 3-D Worlds

Martin Herman

Author Affiliations +

Proceedings Volume 0635, Applications of Artificial Intelligence III; (1986) https://doi.org/10.1117/12.964167
Event: 1986 Technical Symposium Southeast, 1986, Orlando, United States

Abstract

Issues dealing with fast motion planning in unstructured, dynamic 3-D worlds are discussed, and a fast path planning system under development at NBS is described. It is argued that an octree representation of the obstacles in the world leads to fast path planning algorithms. The system we are developing performs the path search in an octree space, and uses a hybrid search technique that combines hypothesize and test, hill climbing, A*, and multiresolution grid search.

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Martin Herman "Fast Path Planning In Unstructured, Dynamic, 3-D Worlds", Proc. SPIE 0635, Applications of Artificial Intelligence III, (26 March 1986); https://doi.org/10.1117/12.964167

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