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:
  • Authors:
    • MAIDA, A S
    • GOLCONDA, S
    • MEJIA, P
    • LAKHTIA, A
    • CAVANAUGH, C
  • Publication Date: 2006

Language

  • English

Media Info

Subject/Index Terms

Filing Info

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