Translator Disclaimer
29 March 1988 Hierarchical Route Planner
Author Affiliations +
A two-level hierarchical route planner has been developed. The data input to the system is a cross-country mobility map. For a given vehicle type, this map specifies regions which are "GO" or "NO-GO." A line-thinning algorithm is used to generate a skeleton of the "GO" areas. This skeleton is then converted into a graph-theoretic structure. A first-level route planner using elevation-grid data is used to compute the traversal time of each arc of the graph. These traversal times become the weights used by the second level route planner. This route planner is an A* algorithm that is used to search for a specified number of non-competing routes, i.e., routes that have no arc-segments in common. Thus, the first level route planner does detailed planning over a small area but is subject to combinatorial explosion when a search over a wider area is required. The second level graph-search algorithm provides the capability to efficiently plan a route over a larger area but without detail about the precise path followed. This system was implemented in Common Lisp on a Lisp machine. The software has also been integrated into a workstation that was developed to provide support to Army robotic vehicle research. The workstation provides support for comparing the capabilities of alternative route finding algorithms.
© (1988) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
John R. Benton "Hierarchical Route Planner", Proc. SPIE 0937, Applications of Artificial Intelligence VI, (29 March 1988);


Case-based reasoning approach for heuristic search
Proceedings of SPIE (February 28 1991)
The Autonomous Helicopter System
Proceedings of SPIE (June 13 1984)
Parallel algorithm for computing 3D reachable workspaces
Proceedings of SPIE (February 29 1992)

Back to Top