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Planning paths through a spatial hierarchy - Eliminating stair-stepping effectsStair-stepping effects are a result of the loss of spatial continuity resulting from the decomposition of space into a grid. This paper presents a path planning algorithm which eliminates stair-stepping effects induced by the grid-based spatial representation. The algorithm exploits a hierarchical spatial model to efficiently plan paths for a mobile robot operating in dynamic domains. The spatial model and path planning algorithm map to a parallel machine, allowing the system to operate incrementally, thereby accounting for unexpected events in the operating space.
Document ID
19900024638
Document Type
Conference Paper
Authors
Slack, Marc G. (California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1989
Subject Category
CYBERNETICS
Meeting Information
Sensor Fusion: Spatial Reasoning and Scene Interpretation(Cambridge, MA)
Distribution Limits
Public
Copyright
Other