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

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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.

Associated centers: VASC and FRC
Associated lab/group: NavLab
Associated project: CTA Robotics

Number of pages: 6

J. Carsten, D. Ferguson, and A. 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.

@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)",
   month = "October",
   year = "2006",
   pages = "3381 - 3386"
}