Published August 2008
| Published
Book Section - Chapter
Open
Sensor Based Path Planning in Highly Constrained Environments for Agile Autonomous Vehicles
- Creators
- Berg-Taylor, Kito
- Seo, Keehong
-
Chung, Soon-Jo
Chicago
An error occurred while generating the citation.
Abstract
This paper presents at a class of new methods which explore and describe an unstructured environment according to the free space as seen by a vehicle within the environment. The proposed methods use such sensor-based information to present a safe, goal-seeking path through the environment. The methods are suitable to both online, reactive pathnding and obstacle avoidance as well as online or offline global navigation and goal-seeking behaviours. Experimental results on ground vehicles and in simulation are presented to demonstrate the path-planning capabilities of the proposed methods.
Additional Information
© 2008 American Institute of Aeronautics and Astronautics. The research reported in this article was in part supported by the Air Force O±ce of Scientific Research (AFOSR) and the Information Infrastructure Institute (I3) at Iowa State University. The authors would like to express their gratitude to Prof. James Oliver and Prof. Arun Somani at Iowa State University for their technical and financial support.Attached Files
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Additional details
- Eprint ID
- 73072
- Resolver ID
- CaltechAUTHORS:20161221-111102659
- Air Force Office of Scientific Research (AFOSR)
- Iowa State University
- Created
-
2016-12-21Created from EPrint's datestamp field
- Updated
-
2021-11-11Created from EPrint's last_modified field
- Caltech groups
- GALCIT
- Other Numbering System Name
- AIAA Paper
- Other Numbering System Identifier
- 2008-7168