3D Field D: Improved Path Planning and Replanning in Three Dimensions

Joseph Carsten, David Ferguson , and Anthony (Tony) Stentz
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), October, 2006, pp. 3381 - 3386.


Download
  • Adobe portable document format (pdf) (1MB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
We present an interpolation-based planning and replanning algorithm that is able to produce direct, low-cost paths through three-dimensional environments. Our algorithm builds upon recent advances in 2D grid-based path planning and extends these techniques to 3D grids. It is often the case for robots navigating in full three-dimensional environments that moving in some directions is significantly more difficult than others (e.g. moving upwards is more expensive for most aerial vehicles). Thus, we also provide a facility to incorporate such characteristics into the planning process. Along with the derivation of the 3D interpolation function used by our planner, we present a number of results demonstrating its advantages and real-time capabilities.

Notes
Associated Center(s) / Consortia: Vision and Autonomous Systems Center and Field Robotics Center
Associated Project(s): CTA Robotics
Number of pages: 6

Text Reference
Joseph Carsten, David Ferguson , and Anthony (Tony) Stentz, "3D Field D: Improved Path Planning and Replanning in Three Dimensions," Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), October, 2006, pp. 3381 - 3386.

BibTeX Reference
@inproceedings{Carsten_2006_5651,
   author = "Joseph Carsten and David {Ferguson } and Anthony (Tony) Stentz",
   title = "3D Field D: Improved Path Planning and Replanning in Three Dimensions",
   booktitle = "Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06)",
   pages = "3381 - 3386",
   month = "October",
   year = "2006",
}