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Robust Path Planning With Imperfect Maps
| 题名： | Robust Path Planning With Imperfect Maps |
| 作者： | Stentz, Anthony;Ferguson, Dave; |
| 关键词： | ALGORITHMS, PATHS, PLANNING, AUTONOMOUS NAVIGATION, SYMPOSIA, ROBOTICS, ROBOTS, UNMANNED, GROUND VEHICLES, MAPS, INFORMATION PROCESSING. |
| 摘要： | We describe an efficient method for path planning in environments for which prior maps are plagued with uncertainty. Our approach processes the map to determine key areas whose uncertainty is crucial to the planning task. It then incorporates the uncertainty associated with these areas using the recently developed PAO* algorithm to produce a fast, robust solution to the original planning task. We present results from a simulated outdoor navigation scenario. |
| 总页数： | 8 |
| 报告类型： | 科技报告 |
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