Using linear landmarks for path planning with uncertainty in outdoor environments

• Authors: Juan P. Gonzalez;Anthony Stentz
• Venue: IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
• Year: 2009

This paper presents two new approaches that enable the use of linear landmarks for planning paths with uncertainty in position in outdoor environments. The first approach uses a combination of forward simulation and entropy to reduce the dimensionality of the search space, while still preserving most of the information required to propagate a full covariance matrix. The second approach adds incremental binning to improve the quality of the solution while still keeping the dimensionality of the search space relatively low. These approaches provide a better compromise of speed and quality of the solution than most existing approaches, and are able to successfully utilize linear landmarks in large outdoor environments.