Sensor based path planning in highly constrained environments for agile autonomous vehicles

Kito Berg-Taylor, Keehong Seo, Soon Jo Chung

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 path-finding 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.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation and Control Conference and Exhibit
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
ISBN (Print)9781563479458
DOIs
StatePublished - 2008

Publication series

NameAIAA Guidance, Navigation and Control Conference and Exhibit

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering

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