Planar rover navigation by using a logic driven hierarchical dynamic programming

A Logic Directed Hierarchical Dynamic Programming Algorithm for path planning is presented in this thesis. The logic rules developed will be used to select the partitioning grid size for the standard Hierarchical Dynamic Programming Algorithm. The algorithm is applied to planning the shortest safest path through a 100 x 100 grid terrain, in the most tie efficient manner. The algorithm is compared to both the standard Dynamic Programming Algorithm and the Standard Hierarchical Dynamic Programming algorithm through experimentation using standardized terrains with complex shaped obstacles.