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Carnegie Mellon Robotics Institute

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Abstract

A method is presented for combining two previously proposed algorithms for path-planning and dynamic steering control into a computationally feasible scheme for real-time feedback control of autonomous vehicles in uncertain environments. In the proposed approach to vehicle guidance and control, Path Relaxation is used to compute critical points along a globally desirable path using a priori information and sensor data. Generalized potential fields are then used for local feedback control to drive the vehicle along a collision-free path using the critical points as subgoals. Simulation results are presented to demonstrate the control scheme.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Associated Lab(s) / Group(s): NavLab

Text Reference

Bruce Krogh and Chuck Thorpe, "Integrated Path Planning and Dynamic Steering Control for Autonomous Vehicles," Proceedings of 1986 IEEE International Conference on Robotics and Automation (ICRA '86), April, 1986, pp. 1664 - 1669.

BibTeX Reference

@inproceedings{Krogh_1986_1650,
   author = "Bruce Krogh and Chuck Thorpe",
   title = "Integrated Path Planning and Dynamic Steering Control for Autonomous Vehicles",
   booktitle = "Proceedings of 1986 IEEE International Conference on Robotics and Automation (ICRA '86)",
   pages = "1664 - 1669",
   month = "April",
   year = "1986",
}

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