Multi-resolution Path Planning: Theoretical Analysis, Efficient Implementation, and Extensions to Dynamic Environments
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Author(s)
Cowlagi, Raghvendra V.
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Abstract
A multi-resolution path planning algorithm based
on the wavelet transform of the environment has been reported
previously in the literature. In this paper, we provide a proof
of completeness of this algorithm. In addition, we present
an implementation of this algorithm that reuses information
obtained in previous iterations to perform subsequent iterations
more efficiently. Finally, we extend this path planning algorithm
to dynamic environments by presenting a simple scheme for
updating the wavelet transform coefficients to reflect changes
in the environment.
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Date
2010-12
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