Title:
Multiresolution Path Planning Via Sector Decompositions Compatible to On-Board Sensor Data
Multiresolution Path Planning Via Sector Decompositions Compatible to On-Board Sensor Data
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Author(s)
Bakolas, Efstathios
Tsiotras, Panagiotis
Tsiotras, Panagiotis
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Abstract
In this paper we present a hybrid local-global path planning scheme for the problem
of operating a moving agent inside an unknown environment in a collision-free manner.
The path planning algorithm is based on information gathered on-line by the available
on-board sensor devices. The solution minimizes the total length of the path with respect
to a metric that includes actual path length along with a risk-induced metric. We use a
multi-resolution cell decomposition of the environment in order to solve the path-planning
problem using the wavelet transform in conjunction with a conformal mapping to polar
coordinates. By performing the cell decomposition in polar coordinates we can naturally
incorporate sector-like cells that are adapted to the data representation collected by the
on-board sensor devices. Simulations are presented to test the efficiency of the algorithm
using a non trivial scenario.
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Date Issued
2008
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