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Conference Paper Global Path Planning on Uneven Elevation Maps
Cited 26 time in scopus Share share facebook twitter linkedin kakaostory
Authors
Sunglok Choi, Jaehyun Park, Eulgyoon Lim, Wonpil Yu
Issue Date
2012-11
Citation
International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2012, pp.49-54
Publisher
IEEE
Language
English
Type
Conference Paper
DOI
https://dx.doi.org/10.1109/URAI.2012.6462928
Abstract
This paper introduce about graph-search based global path planning on uneven elevation maps. An elevation map is an efficient and popular representation for 3-D terrains due to its easy manipulation by a computer. On the elevation map, we investigate three different optimal paths in the aspects of travel distance, travel time, and energy consumption. A distance/time-optimal path is derived by simple extension of A* on 2-D grid maps. A formulation on energy consumption leads an energy-optimal version and traversiblity criteria. We demonstrate effectiveness of our proposed method by experiments on randomly generated Gaussian hills. Copyright © 2012 IEEE.
KSP Keywords
Elevation Map, Energy optimal, Global Path Planning, Grid Map, Optimal path, Three dimensional(3D), Time-Optimal, Travel time, energy consumption, travel distance, two-dimensional(2D)