Title :
Research of the optimal path planning methods for unmanned ground vehicle in DARPA Urban Challenge
Author :
Woo, Hoon Je ; Park, Sang Bae ; Kim, Jung Ha
Author_Institution :
Grad. Sch. of Automotive Eng., Kookmin Univ., Seoul
Abstract :
This paper introduces an optimal algorithm through analyzing and studying various algorithms used in DARPA Urban Challenge 2007 and making a numerical statement about each algorithm. The top eleven teams that passed the NQE (national qualifying event) used Dijkstra, A*, RRTs, and D*. Therefore, this research will focus on those algorithms and study a method to apply an optimal algorithm.
Keywords :
path planning; remotely operated vehicles; road vehicles; DARPA Urban Challenge; Dijkstra algorithm; NQE; National Qualifying Event; optimal path planning methods; unmanned ground vehicle; Algorithm design and analysis; Automatic control; Automotive engineering; Costs; Humans; Land vehicles; Navigation; Optimal control; Path planning; Vehicle safety; A*; D*; Dijkstra algorithm; Path Planning; RRTs; Unmanned Ground Vehicle;
Conference_Titel :
Control, Automation and Systems, 2008. ICCAS 2008. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-9-3
Electronic_ISBN :
978-89-93215-01-4
DOI :
10.1109/ICCAS.2008.4694570
