HRA*: hybrid randomized path planning for complex 3D environments
Cita com:
hdl:2117/89386
Tipus de documentText en actes de congrés
Data publicació2013
EditorInstitute of Electrical and Electronics Engineers (IEEE)
Condicions d'accésAccés obert
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
We propose HRA*, a new randomized path planner for complex 3D environments. The method is a modified A* algorithm that uses a hybrid node expansion technique that combines a random exploration of the action space meeting vehicle kinematic constraints with a cost to goal metric that considers only kinematically feasible paths to the goal. The method includes also a series of heuristics to accelerate the search time. These include a cost penalty near obstacles, and a filter to prevent revisiting configurations. The performance of the method is compared against A*, RRT and RRT* in a series of challenging 3D outdoor datasets. HRA* is shown to outperform all of them in computation time, and delivering shorter paths than A* and RR
CitacióTeniente, E., Andrade-Cetto, J. HRA*: hybrid randomized path planning for complex 3D environments. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "IROS 2013: New Horizon Conference Digest: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems: Tokyo, Big Sight, Tokyo, Japan, November 3-8, 2013". Tokyo: Institute of Electrical and Electronics Engineers (IEEE), 2013, p. 1766-1771.
Versió de l'editorhttp://ieeexplore.ieee.org/document/6696588/
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