SUBDIVISION-BASED CORRIDOR MAP METHOD FOR PATH PLANNING

Amit Kumar and Aparajita Ojha

Keywords

Path planning, known environment, corridor map method, subdivision method

Abstract

One of the most significant challenges in autonomous robotics/gaming is to find an optimal collision-free path in an environment with obstacles. Numerous path planning methods exist for problems in a static or a dynamic environment, known or unknown environment. Recently, a general framework called the corridor map method has been introduced for generating a real-time, high-quality path applicable in a static and known environment. This approach works in two phases – a construction phase and a query phase. In the construction phase a system of collision-free corridors is created with respect to static obstacles in the environment. In the query phase, a path is determined between a given starting point and a goal inside the corridor. In the present paper, we propose a novel approach for finding a smooth and short path using the subdivision curves. The proposed method has three main advantages: (i) computation of the current position of a moving object does not involve an integration process; (ii) depending upon the clearance information, the subdivision process automatically increases/decreases the velocity of a moving object; and (iii) shorter paths can be generated using the same process by appropriately choosing the levels of iteration in the subdivision method.

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