Continuous-field path planning with constrained path-dependent state variables

G. Ayorkor Korsah, Anthony (Tony) Stentz, and M Bernardine Dias
ICRA 2008 Workshop on Path Planning on Costmaps, May, 2008.


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Abstract
Planning autonomous long range traverses for planetary exploration and similar robotic missions requires several important capabilities. These include the ability to generate smooth, optimal paths, the ability to reason about constrained path-dependent state variables such as energy, and the ability to replan rapidly in response to new information. Existing path planning approaches provide one or two of these capabilities but fall far short of supporting all three. We present a framed cells approach to path planning which enables the computation of smooth paths in state spaces that include constrained path-dependent variables. The effectiveness of this approach is demonstrated in simulation and on two different robots.

Notes
Sponsor: Jet Propulsion Laboratory
Grant ID: 1263676
Number of pages: 10

Text Reference
G. Ayorkor Korsah, Anthony (Tony) Stentz, and M Bernardine Dias, "Continuous-field path planning with constrained path-dependent state variables," ICRA 2008 Workshop on Path Planning on Costmaps, May, 2008.

BibTeX Reference
@inproceedings{Korsah_2008_6100,
   author = "G. Ayorkor Korsah and Anthony (Tony) Stentz and M Bernardine Dias",
   title = "Continuous-field path planning with constrained path-dependent state variables",
   booktitle = "ICRA 2008 Workshop on Path Planning on Costmaps",
   month = "May",
   year = "2008",
}