Title:
Beamlet-like Data Processing for Accelerated Path-Planning Using Multiscale Information of the Environment
Beamlet-like Data Processing for Accelerated Path-Planning Using Multiscale Information of the Environment
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Author(s)
Lu, Yibiao
Huo, Xiaoming
Tsiotras, Panagiotis
Huo, Xiaoming
Tsiotras, Panagiotis
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Abstract
We consider the deterministic path-planning problem
dealing with the single-pair shortest path on a given graph.
We propose a multiscale version of the well known A* algorithm
(m-A*), which utilizes information of the environment at
distinct scales. This information is collected via a bottom-up
fusion method. Comparing with existing algorithms such as
Dijkstra’s or A*, the use of multiscale information leads to an
improvement in terms of computational complexity.
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Date Issued
2010-12
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