Citation
R. Jacob, J. K. Hedrick. "directPath : An Expert Path Planning Framework to Handle Environment Knowledge". Proc. IEEE 4th Annual International Conference on Cyber Technology in Automation, Control and Intelligent Systems (CYBER), 2014.

Abstract
The main purpose of this paper is to present a new path planning framework, called directPath, aimed to handle a priori environment knowledge efficiently. Our algorithm is an expert system designed to specifically exploit that knowledge, and then eventually collaborate with other frameworks in order to improve overall path planning performances. It performs a forward search with partial heuristic. It is iterative and can return a partial but safe path when terminated early. Moreover, unlike classical search algorithms, its design allows a quick detection of unfeasible problems. In this paper, we present the framework structure and illustrate its performances and properties by simulations. We will show that directPath can complete the planning task very quickly, with only minor optimality loss.

Electronic downloads

• PID3189289_Romain.pdf · application/pdf · 589 kbytes

• HTML

  R. Jacob, J. K. Hedrick. <a
  href="http://robotics.eecs.berkeley.edu/pubs/4.html"
  >directPath : An Expert Path Planning Framework to Handle
  Environment Knowledge</a>, Proc. IEEE 4th Annual
  International Conference on Cyber Technology in Automation,
  Control and Intelligent Systems (CYBER), 2014.

• Plain text

  R. Jacob, J. K. Hedrick. "directPath : An Expert Path
  Planning Framework to Handle Environment Knowledge".
  Proc. IEEE 4th Annual International Conference on Cyber
  Technology in Automation, Control and Intelligent Systems
  (CYBER), 2014.

• BibTeX

  @inproceedings{JacobHedrick14_DirectPathExpertPathPlanningFrameworkToHandleEnvironment,
      author = {R. Jacob and J. K. Hedrick},
      title = {directPath : An Expert Path Planning Framework to
                Handle Environment Knowledge},
      booktitle = {Proc. IEEE 4th Annual International Conference on
                Cyber Technology in Automation, Control and
                Intelligent Systems (CYBER)},
      year = {2014},
      abstract = {The main purpose of this paper is to present a new
                path planning framework, called directPath, aimed
                to handle a priori environment knowledge
                efficiently. Our algorithm is an expert system
                designed to specifically exploit that knowledge,
                and then eventually collaborate with other
                frameworks in order to improve overall path
                planning performances. It performs a forward
                search with partial heuristic. It is iterative and
                can return a partial but safe path when terminated
                early. Moreover, unlike classical search
                algorithms, its design allows a quick detection of
                unfeasible problems. In this paper, we present the
                framework structure and illustrate its
                performances and properties by simulations. We
                will show that directPath can complete the
                planning task very quickly, with only minor
                optimality loss.},
      URL = {http://robotics.eecs.berkeley.edu/pubs/4.html}
  }
  

Posted by Ehsan Elhamifar on 16 May 2014.
Groups: ehumans
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