A Coarse-to-Fine Approach for Fast Path Finding for Mobile Robots

被引：13

作者：

Lee, Jae-Yeong ^{[1
]}

Yu, Wonpil ^{[1
]}

机构：

[1] Elect & Telecommun Res Inst ETRI, Robot Res Dept, Taejon, South Korea

来源：

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年

关键词：

ANYTIME;

D O I：

10.1109/IROS.2009.5354686

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

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.

引用

页码：5414 / 5419

页数：6

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