Efficient path planning in deformable maps

Authors:
Mark A. Whitty;José E. Guivant
Affiliations:
School of Mechanical and Manufacturing Engineering, University of New South Wales, Sydney, Australia;School of Mechanical and Manufacturing Engineering, University of New South Wales, Sydney, Australia
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 6
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Abstract

This paper presents a framework for efficient path planning in a deformable map. A roadmap and local cost maps are combined and integrated into a generic SLAM process to provide fast path querying for multiple sources and multiple destinations. Analysis of a simple deformation metric shows the ability of the framework to efficiently maintain a consistent plan during major map adjustment by updating the roadmap and selected local cost maps. Results from simulation verify the effectiveness of the framework in handling deformable maps in an efficient manner.