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An Interpolated Dynamic Navigation Function
Autonomous Systems Lab, EPFL, Switzerland.ORCID-id: 0000-0003-3513-8854
Autonomous Systems Lab, EPFL, Switzerland.
2005 (engelsk)Inngår i: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005. ICRA 2005, Vols 1-4, Piscataway, N.J.: IEEE Press, 2005, s. 3782-3789Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

The Ez.ast; algorithm is a path planning method capable of dynamic replanning and user-configurable path cost interpolation. It calculates a navigation function as a sampling of an underlying smooth goal distance that takes into account a continuous notion of risk that can be controlled in a fine-grained manner. E* results in more appropriate paths during gradient descent. Dynamic replanning means that changes in the environment model can be repaired to avoid the expenses of complete replanning. This helps compensating for the increased computational effort required for interpolation. We present the theoretical basis and a working implementation, as well as measurements of the algorithm's precision, topological correctness, and computational effort. © 2005 IEEE.

sted, utgiver, år, opplag, sider
Piscataway, N.J.: IEEE Press, 2005. s. 3782-3789
Serie
Robotics and automation, ISSN 1050-4729 ; 2005
Emneord [en]
path planning, replanning, mobile robot navigation, level set method, fast marching method, Dynamic re-planning, Mobile robot path planning
HSV kategori
Identifikatorer
URN: urn:nbn:se:hh:diva-20116DOI: 10.1109/ROBOT.2005.1570697ISI: 000235460103037Scopus ID: 2-s2.0-33846131926ISBN: 978-078038914-4 ISBN: 0-7803-8914-X OAI: oai:DiVA.org:hh-20116DiVA, id: diva2:576973
Konferanse
2005 IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, 18-22 April, 2005
Tilgjengelig fra: 2012-12-14 Laget: 2012-12-14 Sist oppdatert: 2018-01-12bibliografisk kontrollert

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