Local Navigation for Unmanned Group Vehicles
DEFENCE RESEARCH AND DEVELOPMENT SUFFIELD (ALBERTA)
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This document surveys existing methods of local navigation of mobile robots. It analyzes the state of the art in both indoor obstacle avoidance techniques and those for outdoor rough terrain. A variety of techniques such as Potential Fields, Vector Field Histogram, and Dynamic Window are examined in detail, in addition to outdoor systems such as Ranger, Morphin and the NIST Demo III architecture. Finally, it discusses the applicability of robot motion planning algorithms like Rapidly Exploring Random Trees to the robot navigation problem.
- Numerical Mathematics
- Surface Transportation and Equipment
- Navigation and Guidance