The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

We present a multi-resolution path planner and replanner capable of efficiently generating paths across very large environments. Our approach extends recent work on interpolation-based planning to produce direct paths through non-uniform resolution grids. The resulting algorithm produces plans with costs almost exactly the same as those generated by the most effective uniform resolution grid-based approaches, while requiring only a fraction of their computation time and memory. In this paper we describe the algorithm and report results from a number of experiments involving both simulated and real field data.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center and Field Robotics Center

Associated Project(s): CTA Robotics

Text Reference

David Ferguson and Anthony (Tony) Stentz, "Multi-resolution Field D*," Proceedings of the International Conference on Intelligent Autonomous Systems (IAS), March, 2006.

BibTeX Reference

@inproceedings{Ferguson_2006_5303,
   author = "David Ferguson and Anthony (Tony) Stentz",
   title = "Multi-resolution Field D*",
   booktitle = "Proceedings of the International Conference on Intelligent Autonomous Systems (IAS)",
   month = "March",
   year = "2006",
}

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