Robot generates global path h=4 h=2 h=1 h h=2 h=1 h=0 E G h=4 h=2 BDHK h=5 h=4 h=3 h=2 S A C F Single Source Shortest path from Goal Stop when robot location reached
Robot Generates Global Path J M N O E I L G B D H K S A C F h = 5 h = 4 h = 3 h =4 h = 4 h = 3 h = 2 h = 3 h = 3 h = 2 h = 0 h = 2 h = 1 h = 2 h = 1 h = 1 • Single Source Shortest path from Goal. • Stop when robot location ( ) reached
Robot executes global path h=4 h=2 h=1 h h=2 h=1 h=0 E G h=4 h=2 BDHK h=5 h=4 h=3 h=2 S A C F
Robot Executes Global Path J M N O E I L G B D H K S A C F h = 5 h = 4 h = 3 h = 4 h = 4 h = 3 h = 2 h = 3 h = 3 h = 2 h = 0 h = 2 h = 1 h = 2 h = 1 h = 1
Robot Locally Circumvents h=4 h=2 h=1 h h=2 h=1 E G h=4 h=2 B DH K h=5 h=4 h=3 h=2 s A C F
Robot Locally Circumvents J M N O E I L G B D H K S A C F h = 5 h = 4 h = 3 h = 4 h = 4 h = 3 h = 2 h = 3 h = 3 h = 2 h = 2 h = 1 h = 2 h = 1 h = 1
Robot globally replans h=4 h=2 h=1 h h=2 h=1 h=0 E G h=4 h=3 BDHK h=5 h=4 h=5 s A Rerun Single Source Shortest path from Goal Stop when robot location reached
Robot Globally Replans J M N O E I L G B D H K S A C F h = 3 h = 2 h = 3 h = 5 h = 4 h = 3 h = 4 h = 4 h =5 h = 1 h = 0 h = 2 h = 1 h = 1 • Rerun Single Source Shortest path from Goal. • Stop when robot location ( ) reached
Outline a Path Planning in Partially Known Environments Finding the Shortest Path to the Goal a Alternative Approaches to Path Planning in Partially Known Environments a Continuous Optimal Path Planning 口 Dynamic a* 口 ncrementala
Outline Path Planning in Partially Known Environments. Finding the Shortest Path to the Goal. Alternative Approaches to Path Planning in Partially Known Environments. Continuous Optimal Path Planning Dynamic A* Incremental A*