Efficient path planning in deformable maps

Whitty MA; Guivant JE, 2009, 'Efficient path planning in deformable maps', 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), pp. 5401 - 6, USA

Abstract / Description

This paper presents a framework for efficient path planning in a deformable map. A roadmap and local cost maps are combined and integrated into a generic SLAM process to provide fast path querying for multiple sources and multiple destinations. Analysis of a simple deformation metric shows the ability of the framework to efficiently maintain a consistent plan during major map adjustment by updating the roadmap and selected local cost maps. Results from simulation verify the effectiveness of the framework in handling deformable maps in an efficient manner.

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