Problem-Dependent Transformations of 3D Terrain Elevation Maps into Cost Precursor Maps (Problemberoende Transformation av Tredimensionella Hoejdkartor till Kartor foer Bestaemning av Framkomlighetskostnader)

摘要

A method intended for reducing the complexity of 3D path planning tasks is described, where such planning is restricted to terrain-going vehicles. Two classes of problems are addressed. Both classes share the property that different regions of terrain impose different costs during path traversal. The first problem class concerns traversal costs within a single region which are independent of the direction of motion. In the second problem class, however costs within a single region vary depending upon the direction in which the vehicle is travelling. Hence, 3D terrain maps can be transformed into what are called 'cost precursor maps,' which provide an abstraction of the 3D terrain information into a 2D reference frame.