Human-Like Path Planning in the Presence of Landmarks

  • Basak SakcakEmail author
  • Luca Bascetta
  • Gianni Ferretti
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9991)


This work proposes a path planning algorithm for scenarios where the agent has to move strictly inside the space defined by signal emitting bases. Considering a base can emit within a limited area, it is necessary for the agent to be in the vicinity of at least one base at each point along the path in order to receive a signal. The algorithm starts with forming a specific network, based on the starting point such that only the bases which allow the described motion are included. A second step is based on RRT*, where each edge is created solving an optimal control problem that at the end provides a human-like path. Finally the best path is selected among all the ones that reach the goal region with the minimum cost.


Human-like path planning Planning with landmarks 


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Copyright information

© Springer International Publishing AG 2016

Authors and Affiliations

  1. 1.Dipartimento di Elettronica Informazione e BioingegneriaPolitecnico di MilanoMilanoItaly

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