Using interpolation to improve path planning: The Field D algorithm

We present an interpolation‐based planning and replanning algorithm for generating low‐cost paths through uniform and nonuniform resolution grids. Most grid‐based path planners use discrete state transitions that artificially constrain an agent's motion to a small set of possible headings (e.g....

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Veröffentlicht in:	Journal of field robotics 2006-02, Vol.23 (2), p.79-101
Hauptverfasser:	Ferguson, Dave, Stentz, Anthony
Format:	Artikel
Sprache:	eng
Online-Zugang:	Volltext
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