Path Planning Systems

The "Path Planning Systems" groups is responsible for find an optimal path through the environment, given a model of the environment from the data (provided by Data Filtering Systems group). This group will be developing the high-level code to control Candii during the autonomous and GPS waypoint navigation challenges--essentially, Candii's AI. Path planning algorithms, optimal switching, and maps are the main focus points of this group.

People

• JP
• Jin
• Husayn

Meetings

• Path Planning Meeting (with Dr. Vela)
  • Monday, 1pm, Van Leer (VL) E368
• IGVC Planning Day
  • Tuesday, 6-7pm, Tin Building
• IGVC Work Day
  • Saturday, 2-6pm, Tin Building

Task List

• [ ] Research different types of path planning algorithms
  • [ ] Add relevant resources to the "Resources" section.
• [ ] Determine relevant algorithms
  • [ ] for autonomous navigation challenge
  • [ ] for GPS waypoint navigation challenge
• [ ] Research control theory
  • [ ] Optimal switching
• [ ] Determine best type of map (representation of environment)
  • [ ] Coordinate with Data Filtering Systems group

Resources

• "Planning Algorithms" by Steven M. LaValle
  • http://planning.cs.uiuc.edu
  • Jin has a hard copy.
• "Probabilistic Robotics" by Sebastian Thurn, Wolfram Burgard, Dieter Fox
  • JP has a hard copy.
• "Artificial Intelligence - A Modern Approach" by Peter Russel and Stuart Norvig
  • JP has a hard copy.
• IEEE Xplore
  • http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org
• Wiener and Mallot. 'Fine-to-Coarse' Route Planning and Navigation in Regionalized Environments. Max-Planck-Institute Biological Cybernetics. Technical Report TR-115, 2003.
  • http://wiki.robojackets.org/wiki/images/f/f2/WienerMallot.pdf
• Kuffner. Efficient Optimal Search of Uniform-Cost Grids and Lattices. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. 1946-1950.
  • http://wiki.robojackets.com/wiki/images/e/eb/KuffnerOptimalSearch.pdf