Accession Number:

ADA464756

Title:

Vehicle Motion Planning Using Stream Functions

Descriptive Note:

Corporate Author:

CALIFORNIA INST OF TECH PASADENA CONTROL AND DYNAMICAL SYSTEMS

Personal Author(s):

Report Date:

2003-05-06

Pagination or Media Count:

16.0

Abstract:

Borrowing a concept from hydrodynamic analysis, this paper presents stream functions which satisfy Laplaces equation as a local-minima free method for producing potential-field based navigation functions in two dimensions. These functions generate smoother paths i.e. more suited to aircraft-like vehicles than previous methods. A method is developed for constructing analytic stream functions to produce arbitrary vehicle behaviors while avoiding obstacles, and an exact solution for the case of a single uniformly moving obstacle is presented. The effects of introducing multiple obstacles are discussed and current work in this direction is detailed. Experimental results generated on the Cornell RoboFlag testbed are presented and discussed, as well as related work applying these methods to path planning for unmanned air vehicles.

Subject Categories:

  • Theoretical Mathematics
  • Pilotless Aircraft

Distribution Statement:

APPROVED FOR PUBLIC RELEASE