Welcome to the new version of CaltechAUTHORS. Login is currently restricted to library staff. If you notice any issues, please email coda@library.caltech.edu
Published May 2008 | Published
Book Section - Chapter Open

Development of a Car-like Online Navigation Testbed

Abstract

We present new realtime path planning and collision avoidance algorithms for an autonomous rover equipped with a laser range finder to be used as a platform for multi-agent navigation and control in unknown environments. For successful navigation, such tasks as localization, map-building, and collision avoidance should be handled at the vehicle level. The proposed architecture covers these aspects of robotic path- planning in a modular and robust manner, allowing quicker development of more sophisticated path-planners. Using a conventional SLAM algorithm, a feature map and the location of the vehicle is obtained. The information for orientation and distance of the obstacles ahead is available from a laser range finder. The proposed collision avoidance algorithm provides multiple paths to guide the vehicle through the environment. The system acts as a self-contained extendable platform for development and testing of high-level pathfinders.

Additional Information

© 2008 IEEE. Date of Conference: 18-20 May 2008. Date Added to IEEE Xplore: 27 June 2008. This research was partially supported by the Air Force Office of Scientific Research (AFOSR) and the Information Infrastructure Institute (iCUBE) at Iowa State University. The authors are also grateful to Drs. Arun Somani and James Oliver for their support.

Attached Files

Published - 04554325.pdf

Files

04554325.pdf
Files (288.0 kB)
Name Size Download all
md5:f63c76b9366109d1f05ce8229f640fd5
288.0 kB Preview Download

Additional details

Created:
August 19, 2023
Modified:
October 23, 2023