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2006
IEEE

3D Field D: Improved Path Planning and Replanning in Three Dimensions

9 years 6 months ago
3D Field D: Improved Path Planning and Replanning in Three Dimensions
— We present an interpolation-based planning and replanning algorithm that is able to produce direct, lowcost paths through three-dimensional environments. Our algorithm builds upon recent advances in 2D grid-based path planning and extends these techniques to 3D grids. It is often the case for robots navigating in full three-dimensional environments that moving in some directions is significantly more difficult than others (e.g. moving upwards is more expensive for most aerial vehicles). Thus, we also provide a facility to incorporate such characteristics into the planning process. Along with the derivation of the 3D interpolation function used by our planner, we present a number of results demonstrating its advantages and real-time capabilities.
Joseph Carsten, Dave Ferguson, Anthony Stentz
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Joseph Carsten, Dave Ferguson, Anthony Stentz
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