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Proceedings Paper

Vehicle path planning via dual-world representations
Author(s): Alex N. Peck; Harry T. Breul
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Paper Abstract

A technique is developed whereby a mobile robot equipped with sonar sensors autonomously explores a hallway environment and during exploration dynamically builds two types of maps: a graph of places defined by distinctive sonar events and a grid map from dead reckoning data that is accurate in the neighborhood of a place. With both maps available the robot can quickly plan a path between arbitrary locations and then define a sequence of behaviors that will move the robot along the selected path. Robust performance is achieved by dividing the computational processes into two parallel operations. Time-critical low-level behaviors like driving and steering in the exploratory mode are controlled by an onboard computer that uses sonar data as input to simple subsumption-based algorithms. 1 Higher level more computationally intense and less-time-critical activities like place designation map making display generation and path planning are performed in parallel on a remote computer that fetches sonar data and issues high-level commands via a radio link. An approach to integrating this work with efforts in planning and navigation to form a larger activity in intelligent vehicle research is discussed in a companion paper.

Paper Details

Date Published: 1 March 1991
PDF: 9 pages
Proc. SPIE 1388, Mobile Robots V, (1 March 1991);
Show Author Affiliations
Alex N. Peck, Grumman Corp. (United States)
Harry T. Breul, Grumman Corp. (United States)

Published in SPIE Proceedings Vol. 1388:
Mobile Robots V
Wendell H. Chun; William J. Wolfe, Editor(s)

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