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RI | Publications | State Space Sampling of Feasible Motions for High-Performance Mobile Robot Navigation in Complex Environments
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Text only version of this site
State Space Sampling of Feasible Motions for High-Performance Mobile Robot Navigation in Complex Environments
T. Howard, C. Green, D. Ferguson, and A. Kelly
Journal of Field Robotics, Vol. 25, No. 6-7, June, 2008, pp. 325-345.
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| Abstract |
Sampling in the space of controls or actions is a well-established method for ensuring feasible local motion plans. However, as mobile robots advance in performance and competence in complex environments, this classical motion-planning technique ceases to be effective. When environmental constraints severely limit the space of acceptable motions or when global motion planning expresses strong preferences, a state space sampling strategy is more effective. Although this has been evident for some time, the practical question is how to achieve it while also satisfying the severe constraints of vehicle dynamic feasibility. The paper presents an effective algorithm for state space sampling utilizing a model-based trajectory generation approach. This method enables high-speed navigation in highly constrained and/or partially known environments such as trails, roadways, and dense off-road obstacle fields.
| Notes |
Associated centers: NREC and FRC
Associated projects: Urban Challenge, UGCV PerceptOR Integrated, and Tartan Racing
Number of pages: 21
| Text Reference |
T. Howard, C. Green, D. Ferguson, and A. Kelly, "State Space Sampling of Feasible Motions for High-Performance Mobile Robot Navigation in Complex Environments," Journal of Field Robotics, Vol. 25, No. 6-7, June, 2008, pp. 325-345.
| BibTeX Reference |
@article{Howard_2008_6171,
author = "Thomas Howard and Colin Green and David Ferguson and Alonzo Kelly",
title = "State Space Sampling of Feasible Motions for High-Performance Mobile Robot Navigation in Complex Environments",
journal = "Journal of Field Robotics",
month = "June",
year = "2008",
volume = "25",
number = "6-7",
pages = "325-345"
}