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
收藏
页码：178 / 182
页数：5
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