@inproceedings{a31e023853d24f0596a8078d933abe9f,
title = "Global path planning on uneven elevation maps",
abstract = "This paper introduce about graph-search based global path planning on uneven elevation maps. An elevation map is an efficient and popular representation for 3-D terrains due to its easy manipulation by a computer. On the elevation map, we investigate three different optimal paths in the aspects of travel distance, travel time, and energy consumption. A distance/time-optimal path is derived by simple extension of A* on 2-D grid maps. A formulation on energy consumption leads an energy-optimal version and traversiblity criteria. We demonstrate effectiveness of our proposed method by experiments on randomly generated Gaussian hills.",
keywords = "A*, Distance-optimal, Elevation Map, Energy-optimal, Path Planning, Time-optimal",
author = "Sunglok Choi and Jaehyun Park and Eulgyoon Lim and Wonpil Yu",
year = "2012",
doi = "10.1109/URAI.2012.6462928",
language = "English",
isbn = "9781467331104",
series = "2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2012",
pages = "49--54",
booktitle = "2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2012",
note = "2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2012 ; Conference date: 26-11-2012 Through 29-11-2012",
}