The Path Planning Component of an Architecture for Autonomous Vehicles
نویسندگان
چکیده
Path planning for an autonomous vehicle can occur at two different times. First, path planning might occur at mission specification time when the vehicle’s initial path is determined and used to specify other mission factors. This task makes use of some model of the environment in planning a path that will avoid obstacles and hazardous areas. A second type of path planning might occur while the vehicle is underway to avoid unexpected or previously unknown obstacles and hazardous areas. This is path re-planning. This paper concentrates on path planning and path re-planning in both two-dimensional and three-dimeusional environments as used in the STESCA general control architecture for autonomous vehicles.
منابع مشابه
Low Cost UAV-based Remote Sensing for Autonomous Wildlife Monitoring
In recent years, developments in unmanned aerial vehicles, lightweight on-board computers, and low-cost thermal imaging sensors offer a new opportunity for wildlife monitoring. In contrast with traditional methods now surveying endangered species to obtain population and location has become more cost-effective and least time-consuming. In this paper, a low-cost UAV-based remote sensing platform...
متن کاملA Generic Path Planning Strategy for Autonomous Vehicles
Path planning is a necessary and fundamental component of any autonomous vehicle. The goal is to obtain a path that allows the vehicle to fullll its mission objectives by ensuring an eecient and safe path. Numerous path planning algorithms exist, although each is speciic to the type of vehicle that the algorithm is used on. This paper presents a path planning algorithm that is generic in nature...
متن کاملReal-Time Motion Planning for Agile Autonomous Vehicles
Planning the path of an autonomous, agile vehicle ina dynamic environment is a very complex problem, especially when the vehicle is required to use its full maneuvering capabilities. Recent efforts aimed at using randomized algorithms for planning the path of kinematic and dynamic vehicles have demonstrated considerable potential for implementation on future autonomous platforms. This paper bui...
متن کاملLinear Time Varying MPC Based Path Planning of an Autonomous Vehicle via Convex Optimization
In this paper a new method is introduced for path planning of an autonomous vehicle. In this method, the environment is considered cluttered and with some uncertainty sources. Thus, the state of detected object should be estimated using an optimal filter. To do so, the state distribution is assumed Gaussian. Thus the state vector is estimated by a Kalman filter at each time step. The estimation...
متن کاملMarket-based Co-evolution Planning for Multiple Autonomous Vehicles
In a highly dynamic environment, an adaptive real-time mission planner is essential for controlling a team of autonomous vehicles to execute a set of assigned tasks. The optimal plan computed prior to the start of the operation might be no longer optimal when the vehicles execute the plan. This paper proposes a framework and algorithms for solving real-time task and path planning problems by co...
متن کامل