• norsk
    • English
  • English 
    • norsk
    • English
  • Login
View Item 
  •   Home
  • Fakultet for informasjonsteknologi og elektroteknikk (IE)
  • Institutt for teknisk kybernetikk
  • View Item
  •   Home
  • Fakultet for informasjonsteknologi og elektroteknikk (IE)
  • Institutt for teknisk kybernetikk
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Hierarchical Path Planning for Ground Vehicles

Thoresen, Marius
Master thesis
Thumbnail
View/Open
12733_FULLTEXT.pdf (4.898Mb)
12733_COVER.pdf (234.3Kb)
URI
http://hdl.handle.net/11250/2352561
Date
2015
Metadata
Show full item record
Collections
  • Institutt for teknisk kybernetikk [2240]
Abstract
Path planning for autonomous terrain vehicles is performed with terrain data of different

levels of detail. Some of the data are prior knowledge with coarse resolution, while some

are sensed data of the surroundings with finer resolutions. The vehicle always needs a

path in the most detailed terrain available to be able to traverse the terrain. Performing

complete path planning using the most detailed terrain data is often not possible as de-

tailed terrain data only becomes available as the vehicle moves, or that the data sets are

too large for practical computations.

Performing path planning using the coarse terrain data can provide a basis for performing

path planning using the higher detail terrain, which can improve performance of calcula-

tions. The combination of the path planning in different terrain is a type of hierarchical

path planning.

In this report, a method for hierarchical path planning using terrain data is presented.

Using terrain data in different resolutions, a hierarchy of terrain data is created, with the

coarsest data being the highest level, and the finest data being the lowest level in the

hierarchy. In the hierarchy, path planning is performed in the highest level, and the result

is used to reduce the data of the lower levels before performing path planning.

Experiments using real terrain data are performed for comparing the hierarchical path

planning to conventional path planning, both with respect to computational efficiency and

also optimality and similarity between the paths. Additional experiments are performed

for investigating possible improvements to the method presented.

The results show that hierarchical path planning can improve computation efficiency at

the expense of optimality of the paths. In the experiments, as much as 5 times increase

in computation efficiency were achieved on average, depending on the parameters cho-

sen. The hierarchical paths are in most cases close to optimal, but large deviations does

occur. The optimality is also dependent on the parameters chosen, and there is a trade-off

between computational efficiency and optimality.
Publisher
NTNU

Contact Us | Send Feedback

Privacy policy
DSpace software copyright © 2002-2019  DuraSpace

Service from  Unit
 

 

Browse

ArchiveCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsDocument TypesJournalsThis CollectionBy Issue DateAuthorsTitlesSubjectsDocument TypesJournals

My Account

Login

Statistics

View Usage Statistics

Contact Us | Send Feedback

Privacy policy
DSpace software copyright © 2002-2019  DuraSpace

Service from  Unit