A coarse-to-fine approach for fast path finding for mobile robots

Authors:
Jae-Yeong Lee;Wonpil Yu
Affiliations:
Robot Research Department, Electronics and Telecommunications Research Institute, Daejeon, Korea;Robot Research Department, Electronics and Telecommunications Research Institute, Daejeon, Korea
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

A simple but effective method for fast path finding for mobile robots in grid-based search space is presented. The paper presents a systematic way to reduce the resolution of a grid map preserving the occupancy structure of the original map. Paths are found in two steps with varying quantization levels of the space in coarse-to-fine manner. The resulting paths are practically optimal and experimental results show a great reduction of the searching time, making it possible to implement a real-time global path planner in a very large environment.