Efficient Global Path Planning during Dense Map Deformation

摘要：

This paper presents an efficient approach to global path planning for multiple agents during large-scale map deformation. The problem of planning using dense data during largescale map deformation is addressed by using a hybrid metrictopological planner that maintains locally consistent policies. These policies are cached, providing efficiency gains relative to alternate planning approaches that are characterized using complexity analysis. Simulation results show the effectiveness of this approach in handling notable map deformation while achieving good efficiency.

作者: Mark Whitty Jose Guivant

作者单位: School of Mechanical and Manufacturing Engineering,The University of New South Wales,Australia

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 4943-4949

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）