Global path planning on uneven elevation maps
2012pp. 49–54
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Abstract
This paper introduce about graph-search based global path planning on uneven elevation maps. An elevation map is an efficient and popular representation for 3-D terrains due to its easy manipulation by a computer. On the elevation map, we investigate three different optimal paths in the aspects of travel distance, travel time, and energy consumption. A distance/time-optimal path is derived by simple extension of A* on 2-D grid maps. A formulation on energy consumption leads an energy-optimal version and traversiblity criteria. We demonstrate effectiveness of our proposed method by experiments on randomly generated Gaussian hills.
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