Robust Path Planning With Imperfect Maps

Abstract

We describe an efficient method for path planning in environments for which prior maps are plagued with uncertainty. Our approach processes the map to determine key areas whose uncertainty is crucial to the planning task. It then incorporates the uncertainty associated with these areas using the recently developed PAO* algorithm to produce a fast, robust solution to the original planning task. We present results from a simulated outdoor navigation scenario.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 2004
Accession Number
ADA432878

Entities

People

  • Anthony Stentz
  • Dave Ferguson

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Abstracts
  • Algorithms
  • Artificial Intelligence
  • Computations
  • Cost Estimates
  • Costs
  • Demographic Cohorts
  • Ground Vehicles
  • Helicopters
  • Information Processing
  • Information Systems
  • Motion Planning
  • Navigation
  • Probability
  • Robotics
  • Robots
  • Unmanned Ground Vehicles

Readers

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