Mobility planning for omnidirectional vehicles in natural terrains

Thomas G. Goodsell; Nicholas S. Flann; Morgan E. Davidson

doi:10.1117/12.354437

22 July 1999 Mobility planning for omnidirectional vehicles in natural terrains

Thomas G. Goodsell, Nicholas S. Flann, Morgan E. Davidson

Proceedings Volume 3693, Unmanned Ground Vehicle Technology; (1999) https://doi.org/10.1117/12.354437
Event: AeroSense '99, 1999, Orlando, FL, United States

Abstract

Planning paths for omni-directional vehicles (ODVs) can be computationally infeasible because of the large space of possible paths. This paper presents an approach that avoids this problem through the use of abstraction in characterizing the possible maneuvers of the ODV as a grammar of parameterized mobility behaviors and describing the terrain as a covering of object-oriented functional terrain features. The terrain features contain knowledge on how best to create mobility paths -- sequences of mobility behaviors -- through the object. Given an approximate map of the environment, the approach constructs a graph of mobility paths that link the location of the vehicle with the goals. The actual paths followed by the vehicle are determined by an A* search through the graph. The effectiveness of the strategy is demonstrated in actual tests with a real robotic vehicle.

Citation Download Citation

Thomas G. Goodsell, Nicholas S. Flann, and Morgan E. Davidson "Mobility planning for omnidirectional vehicles in natural terrains", Proc. SPIE 3693, Unmanned Ground Vehicle Technology, (22 July 1999); https://doi.org/10.1117/12.354437

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