Accession Number : ADA311502

Title :   Resolution Independent Grid-Based Path Planning.

Descriptive Note : Technical rept.,

Corporate Author : CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST

Personal Author(s) : Krishnaswamy, Gita ; Stentz, Anthony

PDF Url : ADA311502

Report Date : APR 1995

Pagination or Media Count : 33

Abstract : Energy conservation in a rover is an important factor which should be considered for a mission of long duration. Locomotion is one of the primary consumers of energy. The energy used depends on the terrain and the path taken by the robot. This paper develops a planning strategy based on cell decomposition and A* algorithm which would minimize power usage due to locomotion. Cell decomposition is used because of its ability to represent the environment as a grid of continuous values. The current limitation with cell decomposition is that the path produced is resolution-optimal only. The method developed in this paper overcomes this problem and produces resolution-independent optimal solutions for a binary (obstacle/free space) environment and better results for the continuously varying environment than common existing techniques. This is done in a computationally efficient manner.

Descriptors :   *ROBOTS, MATHEMATICAL MODELS, ALGORITHMS, ROBOTICS, OPTIMIZATION, GRIDS, RESOLUTION, DIRECTION FINDING, ACCURACY, EFFICIENCY, HEURISTIC METHODS, AUTONOMOUS NAVIGATION, DYNAMIC PROGRAMMING, ENERGY CONSERVATION, ENERGY CONSUMPTION, SURFACE NAVIGATION, TERRAIN MODELS, TERRAIN AVOIDANCE, LOCOMOTION, LUNAR SURFACE VEHICLES.

Subject Categories : Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE