J. Nagel, P. G. Trepagnier, C. Koutsougeras, P. Kinney, M. Dooner
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引用次数: 7
Abstract
Kat-5 was the fourth vehicle to successfully finish the DARPA 2005 Grand Challenge; the first time ever that autonomous vehicles were able to successfully complete such a task. In this paper, we describe the methods that were used to develop the vehicle's path planning and obstacle avoidance algorithms, which allowed Kat-5 to successfully navigate completely autonomously the 132 miles course over rough and previously unrehearsed and unknown terrain at relatively high speeds