상세정보
학술대회
Global Path Planning on Uneven Elevation Maps
- 발행일
- 201211
- 출처
- International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2012, pp.49-54
- 협약과제
- 11MC7400, 도심, 야외 비정형 3차원 공간 실시간 인식 및 로봇주행기술 개발, 유원필
- 초록
- 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 제안 키워드
- Elevation Map, Energy optimal, Grid Map, Optimal Path, Three dimensional(3D), Time-Optimal, Travel time, energy consumption, global path planning, travel distance, two-dimensional(2D)