Title:
Multiresolution Path Planning with Wavelets: A Local Replanning Approach
Multiresolution Path Planning with Wavelets: A Local Replanning Approach
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Author(s)
Cowlagi, Raghvendra V.
Tsiotras, Panagiotis
Tsiotras, Panagiotis
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Abstract
A path planning algorithm based on multiresolution
cell decomposition of the environment using wavelets
is proposed. The environment is assumed to be given by an
occupancy grid at fine resolution. The algorithm constructs a
cell decomposition at several levels of resolution (cell sizes) and
constructs an optimal path to the destination from the current
location of the agent. At each step the algorithm iteratively
refines a coarse approximation to the path through local
replanning. The replanning process uses previous information
to refine the original cell channel in the immediate area of
the path. This is done efficiently using the wavelet coefficients.
Numerical tests show a speed-up of an order of magnitude
over the baseline algorithm with minimal impact on the overall
optimality of the resulting path. A comparative study with the
well-known D* algorithm is also provided.
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Date Issued
2008
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Text
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Post-print