Subgoal-based local navigation and obstacle avoidance using a grid-distance field

The local path-planning and obstacle-avoidance module used in the CajunBot, six-wheeled, all-terrain, autonomous land rover is described. The module is designed for rapid subgoal extraction in service of a global navigation system that follows GPS-supplied waypoints. The core algorithm is built around a grid-based, linear-activation field (a type of artificial potential field). The local path planner has three novel features: the artificial potential field delivers local waypoints, or navigation subgoals, rather than a gradient; the planner aggressively avoids obstacles; and, the algorithm makes use of a repulsive expansion region to compensate for imperfect manoeuvrability.(A)

• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/14775360
• Authors:
  • MAIDA, A S
  • GOLCONDA, S
  • MEJIA, P
  • LAKHTIA, A
  • CAVANAUGH, C
• Publication Date: 2006

Language

• English

Media Info

• Pagination: 122-142
• Serial:
  • International Journal of Vehicle Design
  • Volume: 4
  • Issue Number: 2/3/4
  • Publisher: Inderscience Enterprises Limited
  • ISSN: 1477-5360
  • Serial URL: http://www.inderscience.com/jhome.php?jcode=IJVD

Subject/Index Terms

• TRT Terms: Design; Global Positioning System; Planning; Safety; Technology; Vehicles
• Geographic Terms: United States
• ITRD Terms: 9011: Design (overall design); 9126: Global positioning system; 143: Planning; 1665: Safety; 3855: Technology; 8122: USA; 1255: Vehicle
• Subject Areas: Design; Planning and Forecasting; Safety and Human Factors; Vehicles and Equipment; I91: Vehicle Design and Safety;

Filing Info

• Accession Number: 01050845
• Record Type: Publication
• Source Agency: Transport Research Laboratory
• Files: ITRD
• Created Date: Jun 5 2007 12:21AM