Optimal and Efficient Path Planning for Partially-Known Environments

Anthony (Tony) Stentz
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '94), May, 1994, pp. 3310 - 3317.


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Abstract
The task of planning trajectories for a mobile robot has received considerable attention in the research literature. Most of the work assumes the robot has a complete and accurate model of its environment before it begins to move; less attention has been paid to the problem of partially known environments. This situation occurs for an exploratory robot or one that must move to a goal location without the benefit of a floorplan or terrain map. Existing approaches plan an initial path based on known information and then modify the plan locally or replan the entire path as the robot discovers obstacles with its sensors, sacrificing optimality or computational efficiency respectively. This paper introduces a new algorithm, D*, capable of planning paths in unknown, partially known, and changing environments in an efficient, optimal, and complete manner.

Notes
Associated Center(s) / Consortia: Space Robotics Initiative and Field Robotics Center
Associated Project(s): Mars Autonomy

Text Reference
Anthony (Tony) Stentz, "Optimal and Efficient Path Planning for Partially-Known Environments," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '94), May, 1994, pp. 3310 - 3317.

BibTeX Reference
@inproceedings{Stentz_1994_1215,
   author = "Anthony (Tony) Stentz",
   title = "Optimal and Efficient Path Planning for Partially-Known Environments",
   booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '94)",
   pages = "3310 - 3317",
   month = "May",
   year = "1994",
   volume = "4",
}