A fast cost-to-go map approximation algorithm on known large scale rough terrains

Nadir Kapetanovic; Adnan Tahirovic; Gianantonio Magnani

IROS 2015poster4 citations

A fast cost-to-go map approximation algorithm on known large scale rough terrains

Nadir Kapetanovic, Adnan Tahirovic, Gianantonio Magnani

Abstract

Obtaining the optimal cost-to-go map for large scale rough terrains is computationally very expensive both in terms of duration and memory resources. A fast algorithm for approximation of the optimal cost-to-go map in terms of terrain traversability measures for path planning on known large scale rough terrains is developed. The results show that the majority of the cost-to-go map values, computed from every terrain location with respect to the goal location, are near-optimal. Unlike Dijkstra algorithm, the proposed algorithm has inherently parallel structure, and can be significantly speeded up depending on the number of used CPU cores.

BibTeX

@inproceedings{iros2015_afastcosttogomap,
  title = {A fast cost-to-go map approximation algorithm on known large scale rough terrains},
  author = {Nadir Kapetanovic and Adnan Tahirovic and Gianantonio Magnani},
  booktitle = {IROS 2015},
  year = {2015}
}