Oriented Visibility Graphs: Low-Complexity Planning in Real-Time Environments
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Author(s)
Wooden, David
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Abstract
We show how the introduction of a fixed goal location
allows us to lower complexity compared to reduced visibility
graphs. The number of inter-polygonal edges is decreased from
as much as square to not more than simply twice the number
of polygons. By virtue of this restriction, we demonstrate how to
deploy plan-based navigation strategies in highly unstructured,
dynamic environments. This approach has been exercised extensively
through numerous outdoor experiments. The vehicle used
was the DARPA LAGR robot, and the various test environments
included trees, ditches, bushes, tall and short grass, closed canopy,
and varyingly-sloped terrain.
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Date
2006-05
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Text
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Proceedings