Abstract
The problem of planning vehicle trajectories based on local information, i.e., obstacles, road position, or user-supplied waypoints, has been discussed in the previous chapters. For real unmanned missions, longer-range path planning is required. In particular, the system needs to automatically plan a path from the vehicle’s current position to its goal position. The situation is complicated by the fact that, using only partial information about the environment, the path must go around obstacles. This chapter describes our solution to the path planning problem for UGVs.
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Stentz, A. (1997). Optimal and Efficient Path Planning for Partially Known Environments. In: Hebert, M.H., Thorpe, C., Stentz, A. (eds) Intelligent Unmanned Ground Vehicles. The Springer International Series in Engineering and Computer Science, vol 388. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-6325-9_11
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DOI: https://doi.org/10.1007/978-1-4615-6325-9_11
Publisher Name: Springer, Boston, MA
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