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Proceedings Paper

Path planning for robotic vehicles using generalized Field D*
Author(s): Lenny Sapronov; Alberto Lacaze
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Paper Abstract

Generalized Field D* is a novel graph-based planning algorithm developed to improve autonomous navigation of robotic vehicles. The advantages of this algorithm include the possibility to reduce the search space by using multi-resolution graphs, faster planning, and smoother trajectories. The algorithm works with a wide range of simple graphs that have positive edge costs - there is no requirement for the graph to be a grid. Trajectories generated with generalized Field D* are not guaranteed to be optimal, but, in practice, they are often better than those obtained with conventional graph planners.

Paper Details

Date Published: 16 April 2008
PDF: 12 pages
Proc. SPIE 6962, Unmanned Systems Technology X, 69621C (16 April 2008); doi: 10.1117/12.780650
Show Author Affiliations
Lenny Sapronov, Robotic Research LLC (United States)
Alberto Lacaze, Robotic Research LLC (United States)

Published in SPIE Proceedings Vol. 6962:
Unmanned Systems Technology X
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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