A strategy and evaluation method for ground global path planning based on aerial images
作者：
Highlights：
• We develop a strategy to map aerial views and plan safe routes for ground robots.
• The strategy is capable of determining whether target locations are reachable or not.
• We propose a new method, dataset and metrics to evaluate path planning strategies.
• We consistently define the quality of a strategy in terms of accuracy and timing.
• The evaluation method can serve as a standard for comparing path planning procedures.
摘要
•We develop a strategy to map aerial views and plan safe routes for ground robots.•The strategy is capable of determining whether target locations are reachable or not.•We propose a new method, dataset and metrics to evaluate path planning strategies.•We consistently define the quality of a strategy in terms of accuracy and timing.•The evaluation method can serve as a standard for comparing path planning procedures.
论文关键词：Ground robots,Global path planning,Aerial images
论文评审过程：Received 19 February 2019, Revised 21 May 2019, Accepted 28 June 2019, Available online 29 June 2019, Version of Record 8 July 2019.
论文官网地址：https://doi.org/10.1016/j.eswa.2019.06.067
