BROWSE
Detail
Conference Paper
Global Path Planning on Uneven Elevation Maps
Cited 26 time in 
Share 
Share
- 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
- 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)