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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 (English)In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005. ICRA 2005, Vols 1-4, Piscataway, N.J.: IEEE Press, 2005, 3782-3789 p.Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Press, 2005. 3782-3789 p.
Series
Robotics and automation, ISSN 1050-4729 ; 2005
Keyword [en]
path planning, replanning, mobile robot navigation, level set method, fast marching method, Dynamic re-planning, Mobile robot path planning
National Category
Computer and Information Science
Identifiers
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: diva2:576973
Conference
2005 IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, 18-22 April, 2005
Available from: 2012-12-14 Created: 2012-12-14 Last updated: 2013-11-15Bibliographically approved

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CiteExportLink to record
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Cite
Citation style
  • apa
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  • vancouver
  • Other style
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Language
  • de-DE
  • en-GB
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Output format
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  • asciidoc
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