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Proceedings Paper

3D Path Planning for Flying/Crawling Robots
Author(s): T. M. Rao; Ronald C. Arkin
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Paper Abstract

World modeling and path planning techniques for a mobile robot that can navigate through a three dimensional world are developed. A crystal map (an extension of the 2D meadow map representation) serves as the world model. A free-space decomposition algorithm is described that produces this representation. Four variations of the A* search technique are applied to the crystal map producing paths for a robot that can fly and/or crawl through the modeled world. Path improvement strategies are also described. Simulation studies indicate the feasibility of these methods.

Paper Details

Date Published: 1 March 1990
PDF: 10 pages
Proc. SPIE 1195, Mobile Robots IV, (1 March 1990); doi: 10.1117/12.969872
Show Author Affiliations
T. M. Rao, SUNY-Brockport (United States)
Ronald C. Arkin, Georgia Institute of Technology (United States)

Published in SPIE Proceedings Vol. 1195:
Mobile Robots IV
Wendell H. Chun; William J. Wolfe, Editor(s)

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