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Hierarchical path planning on probabilistically labeled polygons

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2 Author(s)
Piat, E. ; Heudiasyc UMR CNRS, Compiegne, France ; Lacroix, S.

We consider the case of a robot that must find ways in an initially unknown and often complex cross-country environment. Our approach relies on a particular model of the environment built from 3D data: the environment is represented by a hierarchical polygonal structure, in which the probabilities of terrain classes are updated as the robot moves. We describe how to define traversability costs within such a structure, taking into account the label probabilities, and explain how a shortest path search can produce a sequence of polygonal cells that must be crossed

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:4 )

Date of Conference:

16-20 May 1998

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