Title:
A Hierarchical On-Line Path-Planning Scheme Using Wavelets
A Hierarchical On-Line Path-Planning Scheme Using Wavelets
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Author(s)
Tsiotras, Panagiotis
Bakolas, Efstathios
Bakolas, Efstathios
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Abstract
We present an algorithm for solving the shortest
(collision-free) path planning problem for an agent (e.g.,
wheeled vehicle, UAV) operating in a partially known
environment. The agent has detailed knowledge of the
environment and the obstacles only in the vicinity of its
current position. Far away obstacles or the final destination
are only partially known and may even change dynamically
at each instant of time. We obtain an approximation of the
environment at different levels of fidelity using a wavelet
approximation scheme. This allows the construction of a
directed weighted graph of the obstacle-free space in a
computationally efficient manner. In addition, the dimension
of the graph can be adapted to the on-board computational
resources. By searching this graph we find the desired shortest
path to the final destination using Dijkstra's algorithm,
provided that such a path exists. Simulations are presented
to test the efficiency of the algorithm using non trivial scenarios.
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Date Issued
2007-07
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Paper