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dc.contributor.advisorKanayama, Yutaka
dc.contributor.authorShirasaka, Masahide
dc.date.accessioned2013-02-15T23:33:12Z
dc.date.available2013-02-15T23:33:12Z
dc.date.issued1994-09
dc.identifier.urihttp://hdl.handle.net/10945/28432
dc.descriptionApproved for public release; distribution is unlimiteden_US
dc.description.abstractThere are two goals for autonomous vehicle navigation planning: shortest path and safe path. These goals are often in conflict; path safety is more important. Safety of the autonomous vehicle's navigation is determined by the clearances between the vehicle and obstacles. Because a Voronoi boundary is the set of points locally maximizing the clearance from obstacles, safety is maximized on it. Therefore Voronoi Diagrams are suitable for motion planning of autonomous vehicles. We use the derivative of curvature k of the vehicle motion (dk/ds) as the only control variable for the vehicle where s is the length along the vehicle trajectory. Previous motion planning of the autonomous mobile robot Yamabico-11 at Naval Postgraduate School used a path tracking method. Before the mission began the vehicle was given a track to follow; motion planning consisted of calculating the point on the track closest to the vehicle and calculating dk/ ds then steering the vehicle to get onto track. We propose a method of planning safe motions of the vehicle to calculate optimal dk/ds at each point directly from the information of the world without calculating the track to follow. This safe navigation algorithm is fundamentally different from the path tracking using a path specification. Additionally motion planning is simpler and faster than the path tracking method. The effectiveness of this steering function for vehicle motion control is demonstrated by algorithmic simulation and by use on the autonomous mobile robot Yamabico 11 at the Naval Postgraduate Schoolen_US
dc.description.urihttp://archive.org/details/optimizingsafemo00shir
dc.format.extent67 p.;28 cm.en_US
dc.language.isoen_US
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.subject.lcshOperations Researchen_US
dc.titleOptimizing safe motion for autonomous vehiclesen_US
dc.typeThesisen_US
dc.contributor.secondreaderBradley, Gordon Hoover
dc.contributor.secondreaderBrutzman, Don
dc.contributor.corporateNaval Postgraduate School
dc.contributor.schoolNaval Postgraduate School
dc.contributor.departmentOperations Research
dc.subject.authorOptimizing Safe Motion for Autonomous Vehiclesen_US
dc.description.serviceLieutenant Junior Grade, Japan Maritime Self-Defense Forceen_US
etd.thesisdegree.nameM.S. in Operations Researchen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineOperations Researchen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US


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