Roads, Rivers, and Obstacles: Optimal Two-Dimensional Path Planning around Linear Features for a Mobile Agent
Rowe, Neil C.
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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;...
This paper appeared in International Journal of Robotics Research, 9, no. 6 (December 1990), pp. 67-74. Equations were redrawn in 2008.
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