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Proceedings Paper

Dynamic trajectory planning for a cross-country navigator
Author(s): Barry L. Brumitt; R. Craig Coulter; Anthony Stentz
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Paper Abstract

Autonomous cross-country navigation requires planning algorithms which supports rapid traversal of challenging terrain while maintaining vehicle safety. The central theme of the work is the implementation of a planning system which solves this problem. The planning system uses a recursive trajectory generation algorithm, which generates spatial trajectories and then heuristically modifies them to achieve safe paths around obstacles. Velocities along the spatial trajectory are then set to insure a dynamically stable traversal. Ongoing results are presented from the system as implemented on the NAVLAB II, an autonomous off-road vehicle at Carnegie Mellon University. The planning system was successful in achieving 5.1 km autonomous test runs with obstacle avoidance on rugged natural terrain at speeds averaging 1.8 m/s. Runs of up to 0.3 km at 4.5 m/s were achieved when only checking for obstacles.

Paper Details

Date Published: 4 May 1993
PDF: 12 pages
Proc. SPIE 1831, Mobile Robots VII, (4 May 1993); doi: 10.1117/12.143824
Show Author Affiliations
Barry L. Brumitt, Carnegie Mellon Univ. (United States)
R. Craig Coulter, Carnegie Mellon Univ. (United States)
Anthony Stentz, Carnegie Mellon Univ. (United States)

Published in SPIE Proceedings Vol. 1831:
Mobile Robots VII
William J. Wolfe; Wendell H. Chun, Editor(s)

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