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Proceedings Paper

Mobility planning for omnidirectional vehicles in natural terrains
Author(s): Thomas G. Goodsell; Nicholas S. Flann; Morgan E. Davidson
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Paper Abstract

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.

Paper Details

Date Published: 22 July 1999
PDF: 9 pages
Proc. SPIE 3693, Unmanned Ground Vehicle Technology, (22 July 1999); doi: 10.1117/12.354437
Show Author Affiliations
Thomas G. Goodsell, Utah State Univ. (United States)
Nicholas S. Flann, Utah State Univ. (United States)
Morgan E. Davidson, Utah State Univ. (United States)


Published in SPIE Proceedings Vol. 3693:
Unmanned Ground Vehicle Technology
Grant R. Gerhart; Robert W. Gunderson; Chuck M. Shoemaker, Editor(s)

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