Exploiting capability constraints to solve global, two dimensional path planning problems
By: [by] R.F. Richbourg, Neil C. Rowe, [and] Michael J. Zyda
Contributors: Rowe, Neil Charles; Zyda, Michael J.; Naval Postgraduate School (U.S.)
Publisher: Naval Postgraduate School
Published: 1986
Place of publication: Monterey, California
Language: eng
Number of pages: 30
Subjects: Remotely piloted Vehicles; Navigation
Description: Mobile autonomous vehicles require the capability of planning routes over ranges that are too great to be characterized by local sensor systems. Completion of this task requires some form of map data. Much work has been done concerning planning paths through local areas, those which can be scanned by on-board sensor systems. However, planning paths based on long range map data is a very different problem. Extant solution techniques require the search of discrete, node and link representations which characterize continuous, two dimensional problem environments. The authors assume the availability of topographic data organized into regions of homogenous traversal cost. Given this, they present a solution technique for the long range planning problem which relies on a Snell's Law heuristic to limit a graph search for the optimal solution.
Notes: Title from cover.

"Prepared for: Chief of Naval Research"--Cover.

"January 1986"--Cover.

"NPS-52-86-006"--Cover.

DTIC Identifiers: Find path problem, PE61152N.

Includes bibliographical references (p. 28-29).

"Approved for public release; distribution unlimited"--Cover.

Technical report; 1986.

kmc/kmc 9/8/09.