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An Efficient Snell's-Law Method for Optimal-Path Planning Across Multiple Two-dimensional Irregular Homogeneous-Cost Regions

dc.contributor.authorRowe, Neil C.
dc.contributor.authorRichbourg, R. F.
dc.dateDecember 1990
dc.date.accessioned2013-09-09T16:30:44Z
dc.date.available2013-09-09T16:30:44Z
dc.date.issued1990-12
dc.identifier.citationInternational Journal of Robotics Research, 9, no. 6 (December 1990), 48-66. The equations were redrawn in 2008.
dc.identifier.urihttp://hdl.handle.net/10945/35983
dc.descriptionInternational Journal of Robotics Research, 9, no. 6 (December 1990), 48-66. The equations were redrawn in 2008.en_US
dc.description.abstractWe are exploring a new approach to high-level optimal-path planning when homogeneous irregularlyshaped regions of a plane have different traversal costs per unit distance. It is based on the simple idea that optimal paths must be straight in homogeneous regions, and so those regions need not be subdivided for path planning. Our approach uses optics analogies, ray tracing, and Snell's Law, and reduces the problem to an efficient graph search with a variety of pruning criteria...en_US
dc.description.sponsorshipSupported in part by the U. S. Army Combat Developments Experimentation Center under MIPR ATEC 88-86.en_US
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.titleAn Efficient Snell's-Law Method for Optimal-Path Planning Across Multiple Two-dimensional Irregular Homogeneous-Cost Regionsen_US
dc.typeConference Paperen_US
dc.contributor.departmentComputer Science (CS)
dc.description.distributionstatementApproved for public release; distribution is unlimited.


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