Pregled bibliografske jedinice broj: 951581
A fast cost-to-go map approximation algorithm on known large scale rough terrains
A fast cost-to-go map approximation algorithm on known large scale rough terrains // 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Hamburg, Njemačka: Institute of Electrical and Electronics Engineers (IEEE), 2015. str. 6279-6285 doi:10.1109/iros.2015.7354273 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), ostalo)
CROSBI ID: 951581 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
A fast cost-to-go map approximation algorithm on known large scale rough terrains
Autori
Kapetanovic, Nadir ; Tahirovic, Adnan ; Magnani, Gianantonio
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), ostalo
Skup
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Mjesto i datum
Hamburg, Njemačka, 09.2015
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
approximation theory ; path planning ; cost-to-go map approximation algorithm ; large scale rough terrain ; terrain traversability measures ; path planning ; Approximation algorithms ; Vehicles ; Path planning ; Navigation ; Approximation methods ; Memory management ; Planning
Sažetak
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.
Izvorni jezik
Engleski
