• Corpus ID: 239016968

FAR Planner: Fast, Attemptable Route Planner using Dynamic Visibility Update

  title={FAR Planner: Fast, Attemptable Route Planner using Dynamic Visibility Update},
  author={Fan Yang and Chao Cao and Hongbiao Zhu and Jean Oh and Ji Zhang},
  • Fan Yang, Chao Cao, +2 authors Ji Zhang
  • Published 18 October 2021
  • Computer Science
  • ArXiv
We present our work on a fast route planner based on visibility graph. The method extracts edge points around obstacles in the environment to form polygons, with which, the method dynamically updates a global visibility graph, expanding the visibility graph along with the navigation and removing edges that become occluded by dynamic obstacles. When guiding a vehicle to the goal, the method can deal with both known and unknown environments. In the latter case, the method is attemptable in… 
1 Citations

Figures and Tables from this paper

Autonomous Exploration Development Environment and the Planning Algorithms
This work uses DARPA Subterranean Challenge as a use case where the repositories together form the main navigation system of the CMU-OSU Team and discusses a few potential use cases in extended applications.


Visibility Graph For Path Planning In The Presence Of Moving Obstacles
Path planning and navigation are two important areas in the control of autonomous mobile robots. In both cases, the resolution of the problem is to move the mobile robot while taking into account
Motion planning using dynamic roadmaps
  • Marcelo Kallmann, M. Matarić
  • Computer Science
    IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
  • 2004
This paper focuses on analyzing the tradeoffs between maintaining dynamic roadmaps and applying an on-line bidirectional rapidly-exploring random tree (RRT) planner alone, which requires no preprocessing or maintenance.
A visibility graph based method for path planning in dynamic environments
A modified Asano's algorithm is implemented for determining the visibility polygons and visibility graphs and the main advantage of this method is that it can be applied in dynamical environments (environments that change in time).
Oriented visibility graphs: low-complexity planning in real-time environments
  • D. Wooden, M. Egerstedt
  • Computer Science
    Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.
  • 2006
It is shown how the introduction of a fixed goal location allows us to lower complexity compared to reduced visibility graphs, and how to deploy plan-based navigation strategies in highly unstructured, dynamic environments.
Robot navigation in unknown terrains using learned visibility graphs. Part I: The disjoint convex obstacle case
An algorithm is presented to navigate a robot in an unexplored terrain that is arbitrarily populated with disjoint convex polygonal obstacles in the plane and it is proven to yield a convergent solution to each path of traversal.
Fast replanning for navigation in unknown terrain
D/sup */ Lite is introduced, a heuristic search method that determines the same paths and thus moves the robot in the same way but is algorithmically different, and is at least as efficient as D/Sup */.
Path planning using lazy PRM
  • Robert Bohlin, L. Kavraki
  • Computer Science
    Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
  • 2000
The overall theme of the algorithm, called Lazy PRM, is to minimize the number of collision checks performed during planning and hence minimize the running time of the planner.
Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Spaces
Real-time robot motion planning using rasterizing computer graphics hardware. In Proc. OY82] C. O'D unlaing and C.K. Yap. A retraction method for planning the motion of a disc. A local approach for
Optimal and efficient path planning for partially-known environments
  • A. Stentz
  • Computer Science
    Proceedings of the 1994 IEEE International Conference on Robotics and Automation
  • 1994
A new algorithm, D*, is introduced, capable of planning paths in unknown, partially known, and changing environments in an efficient, optimal, and complete manner.
Real-Time Motion Planning in Changing Environments Using Topology-Based Encoding of Past Knowledge
The DRM-connect algorithm is proposed, a combination of dynamic reachability maps (DRM) with lazy collision checking and a fallback strategy based on the RRT-connect which is used to repair the roadmap through further exploration and has the potential to scale to systems with higher number degrees of freedom.