Efficient Sidewalk Route Planning on Aerial Images with Cost-Based A* and Mini-Max Objective Function Ontario Tech University

Format:

Book

Conference/Event

Author/Creator:

Bao, Zhibin, author.

Contributor:

Lang, Haoxiang

Lin, Xianke

Conference Name:

WCX SAE World Congress Experience (2025-04-08 : Detroit, Michigan, United States)

Language:

English

Physical Description:

1 online resource cm

Place of Publication:

Warrendale, PA SAE International 2025

Summary:

With the growing diversification of modern urban transportation options, such as delivery robots, patrol robots, service robots, E-bikes, and E-scooters, sidewalks have gained newfound importance as critical features of High-Definition (HD) Maps. Since these emerging modes of transportation are designed to operate on sidewalks to ensure public safety, there is an urgent need for efficient and optimal sidewalk routing plans for autonomous driving systems. This paper proposed a sidewalk route planning method using a cost-based A* algorithm and a mini-max-based objective function for optimal routes. The proposed cost-based A* route planning algorithm can generate different routes based on the costs of different terrains (sidewalks and crosswalks), and the objective function can produce an efficient route for different routing scenarios or preferences while considering both travelling distance and safety levels. This paper's work is meant to fill the gap in efficient route planning for sidewalks on aerial/HD maps

Notes:

Vendor supplied data

Publisher Number:

2025-01-8032

Access Restriction:

Restricted for use by site license