Robust Path Planning With Imperfect Maps
Daniel Scott Ferguson, Anthony Stentz · Defense Technical Information Center (DTIC) · 2004
We describe an efficient method for path planning in environments for which prior maps are plagued with uncertainty. Our approach processes the map to determine key areas whose uncertainty is crucial to the planning task. It then incorporates the uncertainty associated with these areas using the recently developed PAO* algorithm to produce a fast, robust solution to the original planning task. We present results from a simulated outdoor navigation scenario.