An A*-on-octree planner with a height penalty plans ground-hugging 3D routes for ground vehicles in two simulations using under a tenth of the memory and computation time of uniform-grid A*, at nearly equal path length.
Perceptive locomotion through nonlin- ear model-predictive control,
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Ground-Aware Octree-A* Hybrid Path Planning for Memory-Efficient 3D Navigation of Ground Vehicles
An A*-on-octree planner with a height penalty plans ground-hugging 3D routes for ground vehicles in two simulations using under a tenth of the memory and computation time of uniform-grid A*, at nearly equal path length.