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Path Planning on a Compressed Terrain

Path Planning on a Compressed Terrain. Daniel M. Tracy, W. Randolph Franklin, Barbara Cutler, Franklin T. Luk, Marcus Andrade, Metin Inanc, Zhongyi Xie, Jared Stookey Rensselaer Polytechnic Institute. Path Planning.

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Path Planning on a Compressed Terrain

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  1. Path Planning on a Compressed Terrain Daniel M. Tracy, W. Randolph Franklin, Barbara Cutler, Franklin T. Luk, Marcus Andrade, Metin Inanc, Zhongyi Xie, Jared Stookey Rensselaer Polytechnic Institute

  2. Path Planning • Smuggler’s Path: Find the shortest path between two given points while trying to avoid detection by the observers. • A* algorithm • Add penalty for going uphill.

  3. Cost Metric • Cost of moving from one cell to an adjacent cell: • h is the horizontal distance. • v is the elevation difference. • SlopePenalty is when going uphill and 1 otherwise. • VisibilityPenalty is 1 if the new cell is not visible and 100 otherwise.

  4. Range of Motion Chebyshev Euclidean A straightforward application of the A* algorithm results in the Chebyshev distance being minimized, rather than the Euclidean distance.

  5. Path Planning • New approach: Two pass system • First pass: Plan a path that minimizes Chebyshev distance. • Second pass: Only include points from the first path in the search space. • Not guaranteed to be optimal, but in practice it often is.

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