Planning paths for omni-directional vehicles (ODVs) can be computationally infeasible because of the large space of possible paths. This paper presents an approach that avoids this problem through the use of abstraction in characterizing the possible maneuvers of the ODV as a grammar of parameterized mobility behaviors and describing the terrain as a covering of object-oriented functional terrain features. The terrain features contain knowledge on how best to create mobility paths -- sequences of mobility behaviors -- through the object. Given an approximate map of the environment, the approach constructs a graph of mobility paths that link the location of the vehicle with the goals. The actual paths followed by the vehicle are determined by an A* search through the graph. The effectiveness of the strategy is demonstrated in actual tests with a real robotic vehicle.
Mobility planning for omnidirectional vehicles in natural terrains
Unmanned Ground Vehicle Technology ; 1999 ; Orlando,FL,USA
Proc. SPIE ; 3693
22.07.1999
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Mobility planning for omnidirectional vehicles in natural terrains [3693-01]
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