Dynamic Trajectory Planning for a Cross-Country Navigator

Barry Brummit, R. Craig Coulter, and Anthony (Tony) Stentz
Proceedings of SPIE Symposium on Mobile Robots, 1992.


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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 5.1km autonomous test runs with obstacle avoidance on rugged natural terrain at speeds averaging 1.8 m/s. Runs of up to 0.3km at 4.5m/s were acheived when only checking for obstacles.

Notes

Text Reference
Barry Brummit, R. Craig Coulter, and Anthony (Tony) Stentz, "Dynamic Trajectory Planning for a Cross-Country Navigator," Proceedings of SPIE Symposium on Mobile Robots, 1992.

BibTeX Reference
@inproceedings{Brummit_1992_1221,
   author = "Barry Brummit and R. Craig Coulter and Anthony (Tony) Stentz",
   title = "Dynamic Trajectory Planning for a Cross-Country Navigator",
   booktitle = "Proceedings of SPIE Symposium on Mobile Robots",
   year = "1992",
}