Title :
Multi-scale perception and path planning on probabilistic obstacle maps
Author :
Hauer, Florian ; Kundu, Abhijit ; Rehg, James M. ; Tsiotras, Panagiotis
Author_Institution :
Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
We present a path-planning algorithm that leverages a multi-scale representation of the environment. The algorithm works in n dimensions. The information of the environment is stored in a tree representing a recursive dyadic partitioning of the search space. The information used by the algorithm is the probability that a node of the tree corresponds to an obstacle in the search space. The complexity of the proposed algorithm is analyzed and its completeness is shown.
Keywords :
collision avoidance; computational complexity; recursive estimation; completeness algorithm; complexity algorithm; multiscale perception; path-planning algorithm; probabilistic obstacle maps; search space recursive dyadic partitioning; Complexity theory; Hypercubes; Partitioning algorithms; Robots; Sensors; Spatial resolution; Three-dimensional displays;
Conference_Titel :
Robotics and Automation (ICRA), 2015 IEEE International Conference on
Conference_Location :
Seattle, WA
DOI :
10.1109/ICRA.2015.7139779
