Hierarchical Path Planning In Complex Domains

Glen Pearson; JoLan Yao

doi:10.1117/12.940660

11 May 1987 Hierarchical Path Planning In Complex Domains

Glen Pearson, JoLan Yao

Proceedings Volume 0786, Applications of Artificial Intelligence V; (1987) https://doi.org/10.1117/12.940660
Event: 1987 Technical Symposium Southeast on Optics, Electro-Optics, and Sensors, 1987, Orlando, FL, United States

Abstract

This paper describes hierarchical path planning as a technique for planning paths at different levels of abstraction by using a hierarchical representation of the domain. The path planner makes use of a terrain map and a grid-level search algorithm to perform intelligent path planning. The terrain map is made up of three types of objects, pixels, mapels and maps, each containing information about the terrain. The grid-level search algorithm is a two-pass algorithm that uses these object representations. The results of the path planner show various paths computed through complex terrain.

Citation Download Citation

Glen Pearson and JoLan Yao "Hierarchical Path Planning In Complex Domains", Proc. SPIE 0786, Applications of Artificial Intelligence V, (11 May 1987); https://doi.org/10.1117/12.940660

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