WaveCellPlan

WaveCellPlan implements a multiresolution motion planning approach using wavelet-based cell decompositions. By representing the environment at different scales, the planner can efficiently navigate complex spaces by focusing computational resources where they are needed most.

Key Features

• Wavelet Decomposition: Uses Haar wavelets to create a hierarchical representation of the environment.
• Multiresolution Search: Performs path planning on a non-uniform grid.
• Efficiency: Reduces the number of cells required to represent the free space compared to uniform grids.
• MATLAB Implementation: Easy to understand and experiment with for research purposes.

Applications

• Path planning in large, sparse environments
• Variable-resolution terrain mapping
• Efficient navigation for ground robots

Technical Details

• Language: MATLAB
• Method: Wavelet-based cell decomposition
• Output: Piecewise linear paths

Visit the GitHub repository for code and demos.