A Computer Simulation Study of a Sensor-Based Heuristic Navigation for Three-Dimensional Rough Terrain with Obstacles

Abstract

A search strategy for autonomous vehicle navigation over three- dimensional digitized terrain containing obstacles is presented and studied in this thesis. The vehicle possesses no a priori information about terrain. Using only information obtained through a sensor which has a limited sensing range, the vehicle navigates a goal utilizing heuristics adopted from human behavior. Simulation results produce a near-optimal path solution in a very short time. Simulation results also prove that this strategy is suitable for real-time navigation under dynamically changing or unknown environments. Theses.(RRH)

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 1989
Accession Number
ADA215115

Entities

People

  • Do K. Ok

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Cyber
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Automata Theory
  • Autonomous Navigation
  • Autonomous Vehicles
  • Computer Programming
  • Computer Science
  • Computer Simulations
  • Computers
  • Lisp Programming Language
  • Motion Planning
  • Navigation
  • Robot Navigation
  • Robotics
  • Robots
  • Three Dimensional
  • Unmanned Vehicles
  • Vehicles

Fields of Study

  • Computer science

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Robotics and Automation.

Technology Areas

  • Autonomy
  • Autonomy - Autonomous System Control