Integrating Local and Global Navigation in Unmanned Ground Vehicles

Abstract

Hierarchical approaches to autonomous navigation usually divide path planning in two levels: local and global navigation. While these two approaches are complementary and can perform very well, they introduce the additional challenge of integrating them in a way that maximizes their strengths and minimizes their weaknesses. In this paper, we evaluate three different approaches to integrating global and local navigation: route-based navigation, route-based navigation with replanning, and combined navigation using the Field Cost Interface (FCI).

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 2008
Accession Number
ADA505702

Entities

People

  • Alberto Lacaze
  • Juan P. Gonzalez
  • Leonid Sapronov
  • Robert N. Dean
  • William Dodson

Organizations

  • General Dynamics

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Algorithms
  • Artificial Intelligence
  • Autonomous Navigation
  • Autonomous Vehicles
  • Environment
  • Ground Vehicles
  • High Resolution
  • Intelligent Systems
  • Motion Planning
  • Navigation
  • Robotics
  • Robots
  • Simulators
  • Unmanned Ground Vehicles
  • Unmanned Vehicles
  • Vehicles

Fields of Study

  • Computer science

Readers

  • Positioning, Navigation, and Timing (PNT) Technology.
  • Systems Analysis and Design
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • Autonomy