Date of Original Version

1998

Type

Conference Proceeding

Abstract or Description

We describe an approach to mobility planning for autonomous navigation of multiple vehicles in unstructured environments. At the lowest level, this approach uses command arbitration in order to combine command recommendation from driving behaviors. Driving behaviors include local behaviors such as obstacle avoidance or goal tracking, and strategic behavior such as route planning to distant goals. Obstacle avoidance is performed by evaluating a fixed command set with respect to a terrain map built from 3D sensors. Route planning is based on the D* dynamic route planner which evaluates the command set based on the currently optimal path to the next goal. An additional planner, called GRAMMPS, is used to continuously analyze the outputs of the route planners running on each of the vehicles and re-computes optimally the allocation of goals to vehicles in order to minimize time and distance travelled. This approach has be exercised extensively with two vehicles using stereo and LADAR for obstacle detection and map building.

Comments

"©1998 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE." "This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder."

Included in

Robotics Commons

Share

COinS
 

Published In

Proceedings of ISIC/CIRA/ISAS Joint Conference on the Science and Technology of Intelligent Systems, 652-657.