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Integrating Local and Global Navigation in Unmanned Ground Vehicles
GENERAL DYNAMICS ROBOTIC SYSTEMS WESTMINSTER MD
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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.
APPROVED FOR PUBLIC RELEASE