Naval Postgraduate School
Dudley Knox Library
NPS Dudley Knox Library
View Item 
  •   Calhoun Home
  • Faculty and Researchers
  • Faculty and Researchers' Publications
  • View Item
  •   Calhoun Home
  • Faculty and Researchers
  • Faculty and Researchers' Publications
  • View Item
  • How to search in Calhoun
  • My Accounts
  • Ask a Librarian
JavaScript is disabled for your browser. Some features of this site may not work without it.

Browse

All of CalhounCollectionsThis Collection

My Account

LoginRegister

Statistics

Most Popular ItemsStatistics by CountryMost Popular Authors

Optimal grid-free path planning across arbitrarily-contoured terrain with anisotropic friction and gravity effects

Thumbnail
Download
IconRowe_Optimal_grid-free.pdf (762.3Kb)
Download Record
Download to EndNote/RefMan (RIS)
Download to BibTex
Author
Rowe, Neil C.
Ross, Ron S.
Date
1990-10
Metadata
Show full item record
Abstract
Anisotropic (heading-dependent) phenomena arise in the "two-and-one-half-dimensional" path-planning problem of finding minimum-energy routes for a mobile agent across some hilly terrain. We address anisotropic friction and gravity effects, and ranges of impermissible-traversal headings due to overturn danger or power limitations. Our method does not require imposition of a uniform grid, nor average effects in different directions, but reasons about a polyhedral approximation of terrain. It reduces the problem to a finite but provably-optimal set of possibilities, and then uses A* search to find the cost-optimal path. However, the possibilities are not physical locations but path subspaces. Our method exploits the surprising insight that there are only four ways, mathematically simple, to optimally traverse an anisotropic homogeneous region: (1) straight across without braking, the standard isotropic-weighted-region traversal; (2) straight across without braking but as close as possible to a desired impermissible heading; (3) making impermissibility-avoiding switchbacks on the path across a region; and (4) straight across with braking. We prove specific optimality criteria for transitions on the boundaries of regions for each combination of traversal types. These criteria subsume previously published criteria for traversal of isotropic weighted-region terrain. Our method can take considerably less computer time and space than previous methods on some terrain; at the same time, we believe it is the first algorithm to provide truly optimal paths on anisotropic terrain.
Description
This paper appeared in IEEE Transactions on Robotics and Automation, 6, no. 5 (October 1990), 540-553. The equations were redrawn in 2008.
URI
http://hdl.handle.net/10945/36577
Collections
  • Faculty and Researchers' Publications

Related items

Showing items related by title, author, creator and subject.

  • Thumbnail

    Path Planning by Optimal-Path-Map Construction for Homogeneous-Cost Two-Dimensional Regions 

    Alexander, Robert S.; Rowe, Neil C. (Monterey, California. Naval Postgraduate School, 1990-05);
    Finding optimal paths for autonomous robots can significantly reduce travel or energy costs or the probability of accident compared to other "reasonable" paths. But finding optimal paths requires a thorough and systematic ...
  • Thumbnail

    Evaluating Simulated Annealing for the Weighted-Region Path-Planning Problem 

    Kindl, Mark R.; Rowe, Neil C. (Monterey, California. Naval Postgraduate School, 2012-03);
    This paper describes an efficient stochastic algorithm for planning near-optimal paths for a point agent moving through twodimensional weighted-region terrain from a specified start point to a specified goal point. ...
  • Thumbnail

    Obtaining Optimal Mobile-Robot Paths with Non-Smooth Anisotropic Cost Functions Using Qualitative-State Reasoning 

    Rowe, Neil C. (Monterey, California. Naval Postgraduate School, 1997-06);
    Realistic path-planning problems frequently show anisotropism, dependency of traversal cost or feasibility on the traversal heading. Gravity, friction, visibility, and safety are often anisotropic for mobile robots. ...
NPS Dudley Knox LibraryDUDLEY KNOX LIBRARY
Feedback

411 Dyer Rd. Bldg. 339
Monterey, CA 93943
circdesk@nps.edu
(831) 656-2947
DSN 756-2947

    Federal Depository Library      


Start Your Research

Research Guides
Academic Writing
Ask a Librarian
Copyright at NPS
Graduate Writing Center
How to Cite
Library Liaisons
Research Tools
Thesis Processing Office

Find & Download

Databases List
Articles, Books & More
NPS Theses
NPS Faculty Publications: Calhoun
Journal Titles
Course Reserves

Use the Library

My Accounts
Request Article or Book
Borrow, Renew, Return
Tech Help
Remote Access
Workshops & Tours

For Faculty & Researchers
For International Students
For Alumni

Print, Copy, Scan, Fax
Rooms & Study Spaces
Floor Map
Computers & Software
Adapters, Lockers & More

Collections

NPS Archive: Calhoun
Restricted Resources
Special Collections & Archives
Federal Depository
Homeland Security Digital Library

About

Hours
Library Staff
About Us
Special Exhibits
Policies
Our Affiliates
Visit Us

NPS-Licensed Resources—Terms & Conditions
Copyright Notice

Naval Postgraduate School

Naval Postgraduate School
1 University Circle, Monterey, CA 93943
Driving Directions | Campus Map

This is an official U.S. Navy Website |  Please read our Privacy Policy Notice  |  FOIA |  Section 508 |  No FEAR Act |  Whistleblower Protection |  Copyright and Accessibility |  Contact Webmaster

Export search results

The export option will allow you to export the current search results of the entered query to a file. Different formats are available for download. To export the items, click on the button corresponding with the preferred download format.

A logged-in user can export up to 15000 items. If you're not logged in, you can export no more than 500 items.

To select a subset of the search results, click "Selective Export" button and make a selection of the items you want to export. The amount of items that can be exported at once is similarly restricted as the full export.

After making a selection, click one of the export format buttons. The amount of items that will be exported is indicated in the bubble next to export format.