The Geometric Path Planner for Navigating Unmanned Vehicles in Dynamic Environments
نویسندگان
چکیده
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.
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تاریخ انتشار 2005