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Proceedings Paper

Path planning in a two-dimensional environment
Author(s): Richard K. Fox; Antonio Garcia Jr.; Michael L. Nelson
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Paper Abstract

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.

Paper Details

Date Published: 22 July 1999
PDF: 10 pages
Proc. SPIE 3693, Unmanned Ground Vehicle Technology, (22 July 1999); doi: 10.1117/12.354456
Show Author Affiliations
Richard K. Fox, Univ. of Texas/Pan American (United States)
Antonio Garcia Jr., Univ. of Texas/Pan American (United States)
Michael L. Nelson, Univ. of Texas/Pan American (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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