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Development of a Car-like Online Navigation Testbed

Berg-Taylor, Kito and Seo, Keehong and Chung, Soon-Jo (2008) Development of a Car-like Online Navigation Testbed. In: 2008 IEEE International Conference on Electro/Information Technology. IEEE , Piscataway, NJ, pp. 337-342. ISBN 978-1-4244-2029-2.

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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.

Item Type:Book Section
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Chung, Soon-Jo0000-0002-6657-3907
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.
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Air Force Office of Scientific Research (AFOSR)UNSPECIFIED
Iowa State UniversityUNSPECIFIED
Record Number:CaltechAUTHORS:20161122-135542529
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Official Citation:K. Berg-Taylor, Keehong Seo and Soon-Jo Chung, "Development of a car-like online navigation testbed," 2008 IEEE International Conference on Electro/Information Technology, Ames, IA, 2008, pp. 337-342. doi: 10.1109/EIT.2008.4554325
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:72251
Deposited By: Ruth Sustaita
Deposited On:22 Nov 2016 22:40
Last Modified:03 Oct 2019 16:16

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