Publications:A Light Formulation of the E* Interpolated Path Replanner
From ISLAB/CAISR
| Title | A Light Formulation of the E* Interpolated Path Replanner |
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| Author | Roland Philippsen |
| Year | 2006 |
| PublicationType | Report |
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| Diva url | http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:576987 |
| Abstract | The E* algorithm is a path planning method capable of dynamic replanning and user configurable path cost interpolation, it results in more appropriate paths during gradient descent. The underlying formulation is based on interpreting navigation functions as a sampled continuous crossing-time map that takes into account a risk measure. Replanning means thatchanges in the environment model can be repaired to avoid the expenses of complete planning.This helps compensating for the increased computational effort required for interpolation. |
