Path planning for robotic vehicles using generalized Field D*

Lenny Sapronov; Alberto Lacaze

doi:10.1117/12.780650

16 April 2008 Path planning for robotic vehicles using generalized Field D*

Lenny Sapronov, Alberto Lacaze

Proceedings Volume 6962, Unmanned Systems Technology X; 69621C (2008) https://doi.org/10.1117/12.780650
Event: SPIE Defense and Security Symposium, 2008, Orlando, Florida, United States

Abstract

Generalized Field D* is a novel graph-based planning algorithm developed to improve autonomous navigation of robotic vehicles. The advantages of this algorithm include the possibility to reduce the search space by using multi-resolution graphs, faster planning, and smoother trajectories. The algorithm works with a wide range of simple graphs that have positive edge costs - there is no requirement for the graph to be a grid. Trajectories generated with generalized Field D* are not guaranteed to be optimal, but, in practice, they are often better than those obtained with conventional graph planners.

Citation Download Citation

Lenny Sapronov and Alberto Lacaze "Path planning for robotic vehicles using generalized Field D*", Proc. SPIE 6962, Unmanned Systems Technology X, 69621C (16 April 2008); https://doi.org/10.1117/12.780650

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