A parallel version of the traditional grid based cost-to-go function generation algorithm used in robot path planning is introduced. The process takes advantage of the spatial layout of an occupancy grid by concurrently calculating the next wave front of grid cells usually evaluated sequentially in traditional dynamic programming algorithms. The algorithm offers an order of magnitude increase in run time for highly obstacle dense worst-case environments. Efficient path planning of real world agents can greatly increase their accuracy and responsiveness. The process and theoretical analysis are covered before the results of practical testing are discussed.
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机译:Focusing on the major function-oriented zone: A new spatial planning approach and practice in China and its 12th Five-Year Plan 关注主体功能区——中国“十二五规划”新的空间规划探索与实践