Corridor Map Method(CMM) Path Planning

1. Construction phase

  - roadmap graph G = (V, E) is buile : serves as a skeleton for the corridors

  - in each path point, associate the radius R of the largest empty ball

  - radius R : clearance information and graph are now used to define the corridor map

  - Corridor Map : is a graph with clearnce information, each edge encodes a local path with the radii R for the corresponding largest empty balls in the environment.

 

2. Query phase

  - extract the backbone path from grahp, by running Dijkstra's shortest path algorithm.

 

1. Path

2. Corridor Map (Path + Radii)

 

3. BackBone Path (Graph 에서 찾은 시작점/종점 연결 최소 경로), B(t)

4. Corridor : is defined as the union of the set of balls (with radii and center points lie along its backbone path)

5. Attraction Point :