DocumentCode :
2916891
Title :
Path planning for autonomous vehicles driving over rough terrain
Author :
Lacaze, A. ; Moscovitz, Y. ; DeClaris, N. ; Murphy, K.
Author_Institution :
Comput. Intelligence Res. Lab., Maryland Univ., College Park, MD, USA
fYear :
1998
fDate :
14-17 Sep 1998
Firstpage :
50
Lastpage :
55
Abstract :
This paper presents a multiresolutional architecture of planners for obstacle avoidance in outdoor mobility. The planner makes use of off-line dynamical simulations results to efficiently find paths that avoid obstacles. The trajectories are generated by sets of steering velocity commands. This approach of building the search space for the planner results in realistic cost and trajectories for the vehicle. An implementation of the planner was developed and tested in a vehicle at the National Institute of Standards and Technology (NIST) with promising results
Keywords :
collision avoidance; mobile robots; robot dynamics; vehicles; NIST; National Institute of Standards and Technology; autonomous vehicles; multiresolutional architecture; obstacle avoidance; off-line dynamical simulations; outdoor mobility; path planning; rough terrain; search space building; steering velocity commands; trajectory generation; Buildings; Costs; Mobile robots; NIST; Path planning; Remotely operated vehicles; Space technology; Space vehicles; Testing; Vehicle driving;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Control (ISIC), 1998. Held jointly with IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA), Intelligent Systems and Semiotics (ISAS), Proceedings
Conference_Location :
Gaithersburg, MD
ISSN :
2158-9860
Print_ISBN :
0-7803-4423-5
Type :
conf
DOI :
10.1109/ISIC.1998.713634
Filename :
713634
Link To Document :
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