Multi-Scale Cell Decomposition for Path Planning using Restrictive Routing Potential Fields
<|reference_start|>Multi-Scale Cell Decomposition for Path Planning using Restrictive Routing Potential Fields: In burgeoning domains, like urban goods distribution, the advent of aerial cargo transportation necessitates the development of routing solutions that prioritize safety. This paper introduces Larp, a novel path planning framework that leverages the concept of restrictive potential fields to forge routes demonstrably safer than those derived from existing methods. The algorithm achieves it by segmenting a potential field into a hierarchy of cells, each with a designated restriction zone determined by obstacle proximity. While the primary impetus behind Larp is to enhance the safety of aerial pathways for cargo-carrying Unmanned Aerial Vehicles (UAVs), its utility extends to a wide array of path planning scenarios. Comparative analyses with both established and contemporary potential field-based methods reveal Larp's proficiency in maintaining a safe distance from restrictions and its adeptness in circumventing local minima.<|reference_end|>
@article{rivera2024multi-scale,
    title={Multi-Scale Cell Decomposition for Path Planning using Restrictive
  Routing Potential Fields},
    author={Josue N. Rivera and Dengfeng Sun},
    journal={arXiv preprint arXiv:2408.02786},
    year={2024},
    archivePrefix={arXiv},
    eprint={2408.02786},
    primaryClass={cs.RO cs.SY eess.SY}
}