A Hierarchical Algorithm for Probabilistically Complete Path Planning in Multi-Floor Environments
Name
Curtis-shilohc-meng-eecs-2021-thesis.pdf
Description
Thesis PDF
Size
1.11 MB
Format
Adobe PDF
Checksum (MD5)
0bfb41955192bedaefc48a65721a1e44
Author(s)
Curtis, Shiloh
Advisor(s)
Kaelbling, Leslie P.
Date Issued
June 2021
Publisher
Massachusetts Institute of Technology
Abstract
Navigation in multi-floor, multi-building environments is increasingly important in robotics. For wheeled robots, these environments can be conveniently modeled as a set of 2D maps, representing floors, connected by “wormholes”, which represent elevators and other between-floor connections. The full topological structure of the space can thus be described as a weighted graph. However, existing planning algorithms for multi-floor environments modeled in this way do not extend the guarantees on completeness and optimality provided by the underlying motion planning algorithms used within the 2D maps.
This work proposes a new algorithm, HRG*, for probabilistically complete and asymptotically optimal multi-floor path planning that carries these guarantees, together with a reference implementation whose performance is characterized in comparison to the native version.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
In Copyright - Educational Use Permitted
Copyright MIT
Persistent DSpace Link
