Optimal Global Path Planning in Time Varying Environments Based on a Cost Evaluation Function

Authors:
Om K. Gupta;Ray A. Jarvis
Affiliations:
Department of Electrical and Computer Systems Engineering, Monash University, Clayton, Australia VIC 3800;Department of Electrical and Computer Systems Engineering, Monash University, Clayton, Australia VIC 3800
Venue:
AI '08 Proceedings of the 21st Australasian Joint Conference on Artificial Intelligence: Advances in Artificial Intelligence
Year:
2008

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Abstract

This paper describes a unique and optimal method for real-time global path planning and collision avoidance for navigation of a mobile robot in complex time varying environments. Occupancy based 3D grid map and Gaussian distribution model based obstacle prediction are employed to represent the dynamic environment. Path planning and obstacle avoidance are performed by applying a cost-evaluation function on time-space Distance Transforms to uniquely produce the optimal path at the time of planning. Experimental results are presented verifying the effectiveness and versatility of the algorithm in both predictable and imperfectly predictable time varying environments.