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Proceedings Paper

Minefield path planning: architecture and algorithms obeying kinematic constraints
Author(s): Christopher B. McCubbin; Christine D. Piatko; Steven J. Marshall
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Paper Abstract

We have been developing path planning techniques to look for paths that balance the utility and risk associated with different routes through a minefield. Such methods will allow a battlegroup commander to evaluate alternative route options while searching for low risk paths. Extending on previous years' efforts, we have implemented a generalized path planning framework to allow rapid evaluation and integration of new path planning algorithms. We have also implemented a version of Rapidly-Explored Random Trees (RRTs) for mine path planning which integrates path risk, path time, and dynamic and kinematic concerns. Several variants of the RRT algorithm and our existing path planning algorithms were quantitatively evaluated using the generalized path planning framework and an algorithm-dynamic evaluation graphical user interface.

Paper Details

Date Published: 21 September 2004
PDF: 9 pages
Proc. SPIE 5415, Detection and Remediation Technologies for Mines and Minelike Targets IX, (21 September 2004); doi: 10.1117/12.548230
Show Author Affiliations
Christopher B. McCubbin, Johns Hopkins Univ. Applied Physics Lab. (United States)
Christine D. Piatko, Johns Hopkins Univ. Applied Physics Lab. (United States)
Steven J. Marshall, Johns Hopkins Univ. Applied Physics Lab. (United States)


Published in SPIE Proceedings Vol. 5415:
Detection and Remediation Technologies for Mines and Minelike Targets IX
Russell S. Harmon; J. Thomas Broach; John H. Holloway Jr., Editor(s)

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