This paper presents a path planning algorithm that is part of the STESCA control architecture for autonomous vehicles. The path planning algorithm models an autonomous vehicle's path as a series of line segments in Cartesian space and compares each line segment to a list of known obstacles and hazardous areas to determine if any collisions or hindrances exist. In the event of a detected collision, the algorithm selects a point outside the obstacle or hazardous area, generates two new path segments that avoid the obstruction and recursively checks the new paths for other collisions. Once underway, if the autonomous vehicle encounters previously unknown obstacles or hazardous areas, the path planner operates in a run-time mode that decides how to re-route the path around the obstacle or abort. This paper describes the path planner along with examples of path planning in a two-dimensional environment with a wheeled land-based robotic vehicle.
Path planning in a two-dimensional environment
Unmanned Ground Vehicle Technology ; 1999 ; Orlando,FL,USA
Proc. SPIE ; 3693 ; 264
22.07.1999
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Path planning in a two-dimensional environment [3693-35]
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