Multiresolution Path Planning for Mobile Robots,

Abstract

The problem of automatic collision-free path planning is central to mobile robot applications. This report presents an approach to automatic two dimensional path planning based on a quadtree representation. (A quadtree is a recursive decomposition of a 2-D picture into uniformly colored sub i X 2 sub i blocks). The authors introduce hierarchical path searching methods, which make use of this multiresolution representation, to speed up the path planning process considerably. Finally, we discuss the applicability of this approach to mobile robot path planning. Additional keywords: Path planning algorithms; Computer vision.

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Document Details

Document Type
Technical Report
Publication Date
May 01, 1985
Accession Number
ADA158630

Entities

People

  • L. S. Davis
  • S. Kambhampati

Organizations

  • University of Maryland

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Automatic
  • Autonomous Navigation
  • Collision Avoidance
  • Collisions
  • Computer Graphics
  • Computer Science
  • Computer Vision
  • Image Processing
  • Motion Planning
  • Robot Navigation
  • Robotics
  • Robots
  • Three Dimensional
  • Trees (Data Structures)
  • Two Dimensional

Readers

  • Graph Algorithms and Convex Optimization.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy