Accession Number:

ADA505702

Title:

Integrating Local and Global Navigation in Unmanned Ground Vehicles

Descriptive Note:

Conference paper

Corporate Author:

GENERAL DYNAMICS ROBOTIC SYSTEMS WESTMINSTER MD

Personal Author(s):

• Gonzalez, Juan P.
• Dodson, William
• Dean, Robert
• Lacaze, Alberto
• Sapronov, Leonid

Report Date:

2008-12-01

Pagination or Media Count:

6.0

Abstract:

Hierarchical approaches to autonomous navigation usually divide path planning in two levels local and global navigation. While these two approaches are complementary and can perform very well, they introduce the additional challenge of integrating them in a way that maximizes their strengths and minimizes their weaknesses. In this paper, we evaluate three different approaches to integrating global and local navigation route-based navigation, route-based navigation with replanning, and combined navigation using the Field Cost Interface FCI.

Descriptors:

• *AUTONOMOUS NAVIGATION
• *GROUND VEHICLES
• SYMPOSIA
• HIERARCHIES
• UNMANNED
• GLOBAL
• METHODOLOGY
• PLANNING

Subject Categories:

• Computer Programming and Software
• Cybernetics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE