基于cullebra算法的Kat-5路径规划与避障

2006 18th IEEE International Conference on Tools with Artificial Intelligence (ICTAI'06) Pub Date : 2006-11-13 DOI:10.1109/ICTAI.2006.110

J. Nagel, P. G. Trepagnier, C. Koutsougeras, P. Kinney, M. Dooner

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引用次数: 7

摘要

Kat-5是第四辆成功完成DARPA 2005年挑战赛的车辆;这是无人驾驶汽车第一次成功完成这样的任务。在本文中，我们描述了用于开发车辆路径规划和避障算法的方法，这些算法使Kat-5能够以相对较高的速度在崎岖不平的未知地形上成功地完全自主地行驶132英里

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The Culebra Algorithm for Path Planning and Obstacle Avoidance in Kat-5

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

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2006 18th IEEE International Conference on Tools with Artificial Intelligence (ICTAI'06)

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