@inproceedings{d56e9d59fb274e21a4e17ab6c4bcc535,
title = "Ridge-valley path planning for 3D terrains",
abstract = "This paper presents a tactical path planning algorithm for following ridges or valleys across a 3D terrain. The intent is to generate a path that enables an unmanned vehicle to surveil with maximum observability by traversing the ridges of a terrain or to operate with maximum covertness by navigating the valleys. The input to the algorithm is a 3D triangle mesh model for the terrain of interest. This mesh may be non-uniform and non-regular. Thus, the algorithm leverages research from computer graphics and computer vision to identify ridge-valley features on the terrain. These features serve as {"}obstacles{"} for an artificial potential field algorithm. The valleys are obstacles for a surveillance path, or the ridges are obstacles for a covert path. We incorporate geodesic - rather than Euclidean - distances into the potential field formulation to extend path planning to 3D surfaces. We present the theory of our proposed algorithm and provide experimental results.",
author = "Page, {D. L.} and Koschan, {A. F.} and Abidi, {M. A.} and Overholt, {J. L.}",
year = "2006",
doi = "10.1109/ROBOT.2006.1641171",
language = "English",
isbn = "0780395069",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
pages = "119--124",
booktitle = "Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006",
note = "2006 IEEE International Conference on Robotics and Automation, ICRA 2006 ; Conference date: 15-05-2006 Through 19-05-2006",
}