Sensor Based Path Planning in Highly Constrained Environments for Agile Autonomous Vehicles
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.
© 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.
Published - gnc2008chungCollision.pdf