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Sensor Based Path Planning in Highly Constrained Environments for Agile Autonomous Vehicles

Berg-Taylor, Kito and Seo, Keehong and Chung, Soon-Jo (2008) Sensor Based Path Planning in Highly Constrained Environments for Agile Autonomous Vehicles. In: AIAA Guidance, Navigation and Control Conference and Exhibit 2008. American Institute of Aeronautics and Astronautics (AIAA) , Reston, VA, Art. No. 2008-7168. ISBN 9781605608082. http://resolver.caltech.edu/CaltechAUTHORS:20161221-111102659

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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.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.2514/6.2008-7168DOIArticle
http://arc.aiaa.org/doi/abs/10.2514/6.2008-7168PublisherArticle
ORCID:
AuthorORCID
Chung, Soon-Jo0000-0002-6657-3907
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.
Group:GALCIT
Funders:
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)UNSPECIFIED
Iowa State UniversityUNSPECIFIED
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Other Numbering System NameOther Numbering System ID
AIAA Paper2008-7168
Record Number:CaltechAUTHORS:20161221-111102659
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20161221-111102659
Official Citation:Kito Berg-Taylor, Keehong Seo, and Soon-Jo Chung. "Sensor Based Path Planning in Highly Constrained Environments for Agile Autonomous Vehicles", AIAA Guidance, Navigation and Control Conference and Exhibit, Guidance, Navigation, and Control and Co-located Conferences http://dx.doi.org/10.2514/6.2008-7168
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:73072
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:21 Dec 2016 19:37
Last Modified:04 Jan 2017 18:53

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