Global Path Planning for Unmanned Ground Vehicles

Abstract

This paper is an overview of high-level path planning methods used in mobile robotics with special emphasis on outdoor planning for unmanned ground vehicles. It surveys all portions of the path planning process including world representation, graph search algorithms, and planning for partially and completely unknown environments. Planning representations such as Cell Decompositions, Roadmaps, and Potential Fields are covered as well as both heuristic and non-heuristic methods of graph search. Specific recently developed and popular algorithms are also investigated such as A*, D*, Potential Fields, Wavefront Planning, Probabilistic Roadmaps and Rapidly Exploring Random Trees.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 2004
Accession Number
ADA436274

Entities

People

  • J. Giesbrecht

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Collision Avoidance
  • Coordinate Systems
  • Decomposition
  • Environment
  • Ground Vehicles
  • Heuristic Methods
  • Motion Planning
  • Navigation
  • Navigators
  • Robotics
  • Trees (Data Structures)
  • Two Dimensional
  • Unmanned Ground Systems
  • Unmanned Ground Vehicles
  • Unmanned Vehicles
  • Vehicles

Readers

  • Aerial Unmanned Vehicle Swarm Micro Periodontal Dentistry.
  • Enterprise Information Systems Architecture and Joint Command Capability Interoperability Support.
  • Operations Research

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy