Roads, Rivers, and Obstacles: Optimal Two-Dimensional Path Planning around Linear Features for a Mobile Agent
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Authors
Rowe, Neil C.
Subjects
Advisors
Date of Issue
1990-12
Date
December 1990
Publisher
Monterey, California. Naval Postgraduate School
Language
Abstract
We present an efficient algorithm for finding least-cost paths for an agent of negligible size across an
important special case of two-dimensional terrain, terrain consisting of (1) a single isotropic homogeneouscost-
per-distance background region, (2) "roads" or narrow transportation corridors of low cost-perdistance,
(3) "rivers" or narrow features of high crossing cost, and (4) untraversable "obstacles". This work
extends (Mitchell 1987) by including rivers and new pruning heuristics for roads;...
Type
Conference Paper
Description
This paper appeared in International Journal of Robotics Research, 9, no. 6 (December 1990), pp. 67-74. Equations were redrawn in 2008.
Series/Report No
Department
Computer Science (CS)
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NPS Report Number
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supported in part by the U. S. Army Combat Developments Experimentation Center under MIPR ATEC 88-86
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Distribution Statement
Approved for public release; distribution is unlimited.