Resolution Independent Grid-Based Path Planning.
Resolution Independent Grid-Based Path Planning.
复制标题
分辨率独立的基于网格的路径规划。
DOI：
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发表时间：
1995
期刊：
影响因子：
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通讯作者：
A. Stentz
中科院分区：
文献类型：
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作者：
G. Krishnaswamy;A. Stentz
翻译后摘要：在漫游车的节能是一个重要的因素，应考虑一个长期的使命。运动是能源的主要消耗者之一。所使用的能量取决于地形和机器人采取的路径。本文提出了一种基于单元分解和A* 算法的规划策略，该策略可以最大限度地减少由于运动而产生的功率消耗。使用单元分解是因为它能够将环境表示为连续值的网格。当前单元分解的局限性是产生的路径仅是分辨率最优的。本文中开发的方法克服了这个问题，并产生分辨率独立的最佳解决方案的二进制（障碍物/自由空间）的环境和更好的结果，连续变化的环境比常见的现有技术。这是以计算高效的方式完成的。
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.