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Author Zamora, E. ♦ Wen Yu
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2014
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Navigation ♦ Heuristic algorithms ♦ Algorithm design and analysis ♦ Simultaneous localization and mapping ♦ Vehicle dynamics
Abstract Navigation in dynamic or unknown environment is a challenge for autonomous vehicles because of the limited range of sensors and not accurate maps. In this paper, we analyze three conditions on the unobserved and uncertainty environment during navigation. They are "known space", "free space", and "unknown space". For the dynamic environment, we derive an algorithm to correct the false obstacles in the map when a conventional path planning is stuck. For the unknown environment, we derive novel algorithms and compare them with the classical approaches under free space condition. Finally we use Monte Carlo method to evaluate the performance of these algorithms. Experimental results show that our conditions based algorithms are better than the others.
Description Author affiliation: Dept. de Control Automatico, Nat. Polytech. Inst., Mexico City, Mexico (Zamora, E.; Wen Yu)
ISBN 9781479974092
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2014-10-08
Publisher Place France
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 313.54 kB
Page Count 6
Starting Page 1046
Ending Page 1051

Source: IEEE Xplore Digital Library