Resolution Independent Grid-based Path Planning

Gita Krishnaswamy and Anthony (Tony) Stentz
tech. report CMU-RI-TR-95-08, Robotics Institute, Carnegie Mellon University, May, 1995


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Abstract
Energy conservation in a rover is an important factor which should be considered for a mission of long duration. Locomotion is one of the primary consumers of energy. The energy used depends on the terrain and the path taken by the robot. This paper develops a planning strategy based on cell decomposition and A* algorithm which would minimize power usage due to locomotion. Cell decomposition is used because of its ability to represent the environment as a grid of continuous values. The current limitation with cell decomposition is that the path produced is resolution-optimal only. The method developed in this paper overcomes this problem and produces resolution-independent optimal solutions for a binary (obstacle/free space) environment and better results for the continuously varying environment than common existing techniques. This is done in a computationally efficient manner.

Notes
Grant ID: DACA76-89-C-0014, DAAE07-90-C-R059
Number of pages: 26

Text Reference
Gita Krishnaswamy and Anthony (Tony) Stentz, "Resolution Independent Grid-based Path Planning," tech. report CMU-RI-TR-95-08, Robotics Institute, Carnegie Mellon University, May, 1995

BibTeX Reference
@techreport{Stentz_1995_367,
   author = "Gita Krishnaswamy and Anthony (Tony) Stentz",
   title = "Resolution Independent Grid-based Path Planning",
   booktitle = "",
   institution = "Robotics Institute",
   month = "May",
   year = "1995",
   number= "CMU-RI-TR-95-08",
   address= "Pittsburgh, PA",
}