The Geometric Path Planner for Navigating Unmanned Vehicles in Dynamic Environments

Juan Pablo Gonzalez, Bryan Nagy, and Anthony (Tony) Stentz
Proceedings ANS 1st Joint Emergency Preparedness and Response and Robotic and Remote Systems, February, 2006.


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Abstract
In this paper, we describe the Geometric Path Planner (GPP) that produces routes for unmanned ground and air vehicles. The GPP generates plans that minimize a weighted, multi-metric cost function considering factors such as mobility risk, traversal time, sensor coverage, and stealth. In addition to cost minimization, the GPP is able to reason about hard constraints imposed on one or more of these cost metrics. The GPP re-plans paths in real time in response to changing conditions, tasks, and new information. The planner has been used to control both ground and air vehicles

Keywords
Geometric Path Planning, Tactical Behaviors

Notes
Associated Center(s) / Consortia: Vision and Autonomous Systems Center and Field Robotics Center
Associated Project(s): CTA Robotics
Number of pages: 7

Text Reference
Juan Pablo Gonzalez, Bryan Nagy, and Anthony (Tony) Stentz, "The Geometric Path Planner for Navigating Unmanned Vehicles in Dynamic Environments," Proceedings ANS 1st Joint Emergency Preparedness and Response and Robotic and Remote Systems, February, 2006.

BibTeX Reference
@inproceedings{Gonzalez_2006_5504,
   author = "Juan Pablo Gonzalez and Bryan Nagy and Anthony (Tony) Stentz",
   title = "The Geometric Path Planner for Navigating Unmanned Vehicles in Dynamic Environments",
   booktitle = "Proceedings ANS 1st Joint Emergency Preparedness and Response and Robotic and Remote Systems",
   month = "February",
   year = "2006",
}