Simultaneous Planning and Control for Autonomous Ground Vehicles
Interim technical rept. 15 Mar 2005-1 Dec 2006
FLORIDA UNIV GAINESVILLE MECHANICAL AND AEROSPACE ENGINEERING
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Motion planning and control for autonomous vehicles are complex tasks that must be done in order for a ground robot to operate in a cluttered environment. This dissertation presents the theory, implementation, and test results for some new and novel Receding Horizon Control RHC techniques that allow these tasks to be unified into one. The first new method is called Heuristic Receding Horizon Control HRHC, and uses a modified A search to fulfill the online optimization required by RHC. The second is called Dual-Frequency Receding Horizon Control DFRHC, and is used to simplify the trajectory planning process during the RHC optimization. Both methods are combined together to form a practical implementation, which is discussed in detail. The autonomous ground vehicle, the NaviGator, developed at the Center for Intelligent Machines and Robotics, serves as a platform for the implementation and testing discussed.
- Surface Transportation and Equipment