Title :
Optimal path planning with obstacle avoidance for autonomous surveying
Author :
Hodo, David W. ; Bevly, David M. ; Hung, John Y. ; Millhouse, Scott ; Selfridge, Bob
Author_Institution :
Electr. & Comput. Eng. Dept., Auburn Univ., Auburn, AL, USA
Abstract :
In order to perform surveying with an autonomous vehicle, a path must often be designed for geometrically complex boundaries, while also accounting for mapped obstacles. In this paper, several algorithms that solve different aspects of the problem are presented. Together, the algorithms generate a path with the following characteristics: (a) it completely covers a field given its respective corner points, (b) considers the desired initial orientation of the vehicle, (c) provides methods for known obstacles to be avoided by defining areas that are not to be mapped, and (d) can cover a composition of multiple, disjoint fields. The algorithm represents an integration of several theoretical concepts, including: Dubins´s paths for basic planning, modified visibility graphs to define feasible paths around obstacles, Dijkstra´s algorithm to search for the shortest path, and...
Keywords :
collision avoidance; mobile robots; path planning; vehicles; Dijkstra algorithm; Dubin path; autonomous surveying; autonomous vehicle; corner point; disjoint field; mapped obstacle; modified visibility graph; obstacle avoidance; optimal path planning; Algorithm design and analysis; Geometry; Path planning; Planning; Robots; Turning; Vehicles;
Conference_Titel :
IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society
Conference_Location :
Glendale, AZ
Print_ISBN :
978-1-4244-5225-5
Electronic_ISBN :
1553-572X
DOI :
10.1109/IECON.2010.5675447