Roads, Rivers, and Obstacles: Optimal Two-Dimensional Path Planning around Linear Features for a Mobile Agent

Rowe, Neil C.

doi:10.1177/027836499000900606

Cited by 12 publications

(7 citation statements)

References 8 publications

(9 reference statements)

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“…Evenly spaced start points are easiest. Figure 2 shows an example, summarizing 1656 runs of an optimal-path planner reported in Rowe (1990). The terrain is a homogeneous medium-cost-rate background region upon which have been overlain some "road" segments (the solid black lines) of half the cost-per-unit-distance of the background region, "river" segments (the gray shaded lines) of a 2.2 times the cost-perunit-distance of the background, and an impassable "obstacle" region (the solid black triangle).…”

Section: The Path-caching Approach To Optimal-path Mapmentioning

confidence: 99%

Finding Optimal-Path Maps for Path Planning across Weighted Regions

Rowe

Alexander

2000

The International Journal of Robotics Research

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Section: The Path-caching Approach To Optimal-path Mapmentioning

confidence: 99%

Finding Optimal-Path Maps for Path Planning across Weighted Regions

Rowe

Alexander

2000

The International Journal of Robotics Research

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“…(Note that the algorithm we present in this paper can be modified to include such a charge.) Rowe [29] has also worked on the special case of the weighted region problem in the presence of linear features, and although his theoretical bounds are not as tight as those mentioned~bove, he gives favorable experimental results. The recent papers of Papadakis and Perakis [23,24] We thank Dr. Rolf Klein and the referees for a careful reading.…”

Section: Generalizations and Extensionsmentioning

confidence: 99%

The weighted region problem

Mitchell

Papadimitriou

1991

J. ACM

227

146

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AND CHRISTOSH. PAPADIMITRIOU b'ni~'er.sit] of Cul@wu at San Dw,w, La Jollu, Ca[lfomu Abstract. The problem of determining shortest paths through a weighted planar polygonal subdivision with n vertices 1s considered. Distances are measured according to a weighted Euchdean metric: The length of a path 1sdefined to be the weighted sum of (Euchdean) lengths of the subpaths wlthm each region. An algorithm that constructs a (restricted) "shortest path map" with respect to a glt en source point N presented. The output is a partitioning of each edge of the subdlvmon mto intervals of c-ophmahty, allowing an~-optimal path to be traced from the source to any query point along any edge. The algorithm runs m worst-case time O(ES) and requmes O(E) space. where E is the number of "events" in the algorithm and S is the time it takes to run a numencal search procedure. In the worst ewe. E is bounded above by O(nq) (and we gwe an Q(ni) lower bound). but It 1s hkel} that h" will be much smaller m practice. We also show that S 1sbounded by 0(n4L ), where L 1s the preclslon of the problem instance (including the number of bits in the user-specified tolerance c). Agdm, the \alue of S should be much smaller m practice. The algorithm applies the "continuous DIJ kstra" paradigm and explolts the fact that shortest paths obey Snell's Law of RefractIon at region boundanes. a local optlrnahty property of shortest paths that is well known from the analogous optics model. The algorithm generalizes to the multi-source case to compute Voronol diagrams.

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“…As in our previous work [14,15], we will specify local criteria that an optimal path must obey. First consider isotropic regions.…”

Section: Isotropic Traversals and Anisotropic Traversals Of Type Imentioning

confidence: 99%

Optimal grid-free path planning across arbitrarily contoured terrain with anisotropic friction and gravity effects

Rowe

Ross

1990

IEEE Trans. Robot. Automat.

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Roads, Rivers, and Obstacles: Optimal Two-Dimensional Path Planning around Linear Features for a Mobile Agent

Abstract: We present an efficient algorithm for finding least-cost paths for an agent of negligible size across an important special case of two-dimensional terrain, terrain consisting of (1)

Cited by 12 publications

References 8 publications

Finding Optimal-Path Maps for Path Planning across Weighted Regions

Finding Optimal-Path Maps for Path Planning across Weighted Regions

The weighted region problem

Optimal grid-free path planning across arbitrarily contoured terrain with anisotropic friction and gravity effects

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