3D field D*: Improved path planning and replanning in three dimensions

被引:82
作者
Carsten, Joseph [1 ]
Ferguson, Dave [1 ]
Stentz, Anthony [1 ]
机构
[1] Carnegie Mellon Univ, Pittsburgh, PA 15213 USA
来源
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年
基金
美国国家科学基金会;
关键词
D O I
10.1109/IROS.2006.282516
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
We present an interpolation-based planning and replanning algorithm that is able to produce direct, low-cost paths through three-dimensional environments. Our algorithm builds upon recent advances in 2D grid-based path planning and extends these techniques to 3D grids. It is often the case for robots navigating in full three-dimensional environments that moving in some directions is significantly more difficult than others (e.g. moving upwards is more expensive for most aerial vehicles). Thus, we also provide a facility to incorporate such characteristics into the planning process. Along with the derivation of the 3D interpolation function used by our planner, we present a number of results demonstrating its advantages and real-time capabilities.
引用
收藏
页码:3381 / +
页数:2
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