Abstract
This work proposes a path planning algorithm for scenarios where the agent has to move strictly inside the space defined by signal emitting bases. Considering a base can emit within a limited area, it is necessary for the agent to be in the vicinity of at least one base at each point along the path in order to receive a signal. The algorithm starts with forming a specific network, based on the starting point such that only the bases which allow the described motion are included. A second step is based on RRT*, where each edge is created solving an optimal control problem that at the end provides a human-like path. Finally the best path is selected among all the ones that reach the goal region with the minimum cost.
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Notes
- 1.
One can refer to [5] for the computation of the nearest nodes and the rewiring step.
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Sakcak, B., Bascetta, L., Ferretti, G. (2016). Human-Like Path Planning in the Presence of Landmarks. In: Hodicky, J. (eds) Modelling and Simulation for Autonomous Systems. MESAS 2016. Lecture Notes in Computer Science(), vol 9991. Springer, Cham. https://doi.org/10.1007/978-3-319-47605-6_23
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DOI: https://doi.org/10.1007/978-3-319-47605-6_23
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