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    Global and Regional Path Planners for Integrated Planning and Navigation

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    Date
    2005-12
    Author
    Howard, Ayanna
    Seraji, Homayoun
    Werger, Barry
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    Abstract
    This paper presents a hierarchical strategy for field mobile robots that incorporates path planning at different ranges. At the top layer is a global path planner that utilizes gross terrain characteristics, such as hills and valleys, to determine globally safe paths through the rough terrain. This information is then passed via waypoints to a regional layer that plans appropriate navigation paths using regional terrain characteristics. The global and regional path planners share the same map information, but at different ranges. The motion recommendations from the regional layer are then combined with those of the reactive navigation layer to provide reactive control for the mobile robot. Details of the global and regional path planners are discussed, and simulation and experimental results are presented.
    URI
    http://hdl.handle.net/1853/38624
    Collections
    • Human-Automation Systems Lab (HumAns) [153]
    • Human-Automation Systems Lab HumAns Publications [153]

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