Estimation and Comparison of the Distance Costs of Routing Around or Through All Obstacles in Mapped Obstacle Fields
In the field of ground robotics, path planning is one of the major tasks in each mission. If routing over or through obstacles is optimal compared to routing around them, the obstacle avoidance planning task may not be necessary. This can be thought of as the choice between staying on road and driving a long route with favorable terrain or going off road and driving a direct route in adverse terrain. This work presents a method for determining whether it will be optimal to route through obstacles in a field or around them, based on mapped obstacle geometry. This is verified using simulation. Results indicate the decision of routing through or around a field is very sensitive to obstacle traversal cost and the obstacle traversal cost where it becomes optimal to always route through a given obstacle field is surprisingly low.
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| Work Title | Estimation and Comparison of the Distance Costs of Routing Around or Through All Obstacles in Mapped Obstacle Fields |
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| Subtitle | Proceedings of the 2023 Ground Vehicle Systems Engineering and Technology Symposium |
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| License | In Copyright (Rights Reserved) |
| Work Type | Article |
| Publication Date | May 15, 2023 |
| Deposited | April 14, 2025 |
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