Terrain Based D* Algorithm for Path Planning

被引：26

作者：

Saranya, C. ^{[1
]}

Unnikrishnan, Manju ^{[2
]}

Ali, S. Akbar ^{[2
]}

Sheela, D. S. ^{[3
]}

Lalithambika, V. R. ^{[4
]}

机构：

[1] ISRO Satellite Ctr, SCG, Bangalore, Karnataka, India

[2] Vikram Sarabhai Space Ctr, CGFSD, Bangalore, Karnataka, India

[3] Vikram Sarabhai Space Ctr, Control & Guidance Design Grp, Bangalore, Karnataka, India

[4] Vikram Sarabhai Space Ctr, Control Guidance & Simulat Ent, Bangalore, Karnataka, India

来源：

IFAC PAPERSONLINE | 2016年 / 49卷 / 01期

关键词：

Terrain based Path planning; D* algorithm;

D O I：

10.1016/j.ifacol.2016.03.049

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Path planning algorithms provide autonomy in mobile robots to reach targets even in unknown environments. Path planning using grid based techniques such as A* and D*, are cost function based, which is primarily a function of the distance to be travelled to reach the target. Robots targeted for outdoor environments should consider the terrain features also during path planning. In this paper, a modified approach of D* path planning algorithm is proposed. In addition to distance to be travelled, terrain slope estimate is also used in cost Junction computation to plan the path. The algorithm was simulated and tested with different terrain slopes. Results with different test scenarios are also brought out. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：178 / 182

页数：5

共 50 条

[31] 2D Patrol Path Planning Based on Ant Colony Algorithm
Qiu, Mingyue
Zhang, Xueying
Wang, Xinmeng
Journal of Computers (Taiwan), 2024, 35 (03) : 39 - 51
[32] Composite Improved Algorithm Based on Jellyfish, Particle Swarm and Genetics for UAV Path Planning in Complex Urban Terrain
Wang, Qi
Yi, Wenjun
SENSORS, 2024, 24 (23)
[33] Fast Path Planning Algorithm for 3D Indoor Scene Roaming Based on Path Table
Song, Pei-Hua
Li, Ying
Jia, Jin-Yuan
ADVANCED INTELLIGENT COMPUTING TECHNOLOGY AND APPLICATIONS, PT II, ICIC 2024, 2024, 14863 : 118 - 129
[34] Path Planning Algorithm for Small UAV Based on Dubins Path
Yang, Chaojie
Liu, Lifen
Wu, Jiang
2016 IEEE/CSAA INTERNATIONAL CONFERENCE ON AIRCRAFT UTILITY SYSTEMS (AUS), 2016, : 1144 - 1148
[35] 3D Navigation Mesh Generation for Path Planning in Uneven Terrain
Puetz, Sebastian
Weimann, Thomas
Sprickerhof, Jochen
Hertzberg, Joachim
IFAC PAPERSONLINE, 2016, 49 (15): : 212 - 217
[36] Path Planning of Unmanned Tracked Vehicle Based on Terrain Traversability Estimation
Tao J.
Liu H.
Guan H.
Chen H.
Zang Z.
Binggong Xuebao/Acta Armamentarii, 2023, 44 (11): : 3320 - 3332
[37] An informative path planning framework for UAV-based terrain monitoring
Popovic, Marija
Vidal-Calleja, Teresa
Hitz, Gregory
Chung, Jen Jen
Sa, Inkyu
Siegwart, Roland
Nieto, Juan
AUTONOMOUS ROBOTS, 2020, 44 (06) : 889 - 911
[38] Physics Based Path Planning for Autonomous Tracked Vehicle in Challenging Terrain
Bijo Sebastian
Pinhas Ben-Tzvi
Journal of Intelligent & Robotic Systems, 2019, 95 : 511 - 526
[39] Physics Based Path Planning for Autonomous Tracked Vehicle in Challenging Terrain
Sebastian, Bijo
Ben-Tzvi, Pinhas
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2019, 95 (02) : 511 - 526
[40] Optimization-Based Terrain Analysis and Path Planning in Unstructured Environments
Graf, Ueli
Borges, Paulo
Hernandez, Emili
Siegwart, Roland
Dube, Renaud
2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2019, : 5614 - 5620

← 1 2 3 4 5 →