A Dual-Mode Routing Algorithm for an Autonomous Roving Vehicle
Abstract
A dual-mode algorithm for routing an unmanned autonomous roving vehicle designed to explore the uncertain terrain of other planets is presented. The algorithm consists of a global mode, which uses dynamic programming and terrain information available from photo reconnaissance data to determine a nominal optimal path, and a local mode, which routes the vehicle around obstacles whose presence, location, and extent are not known in advance. Gaussian probability density functions are used to simulate terrain for examples that illustrate the performance of the algorithm.
Description
The article of record may be found at http://dx.doi.org/10.1109/TAES.1970.310027
Aerospace and Electronic Systems, IEEE Transactions on
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.Collections
Related items
Showing items related by title, author, creator and subject.
-
VISION-BASED TERRAIN CLASSIFICATION AND LEARNING TO IMPROVE AUTONOMOUS GROUND VEHICLE NAVIGATION IN OUTDOOR ENVIRONMENTS
Lebrun, Caliph (Monterey, CA; Naval Postgraduate School, 2019-09);Terrain is an important factor for autonomous ground vehicles (AGV), potentially ruining a mission or the platform itself. The purpose of this thesis is to develop a method for an AGV to identify and avoid hazardous terrain. ... -
NPSNET : hierarchical data structures for real-time three-dimensional visual simulation.
Mackey, Randall Lee (Monterey, California. Naval Postgraduate School, 1991-09);NPSNET is a low-cost visual simulation system designed and constructed at the Naval Postgraduate School. NPSNET uses digital terrain data and renders scenes involving vehicles, aircraft, cultural features, and natural ... -
A mine search algorithm for the Naval Postgraduate School Autonomous Underwater Vehicle
Rodrigues Neto, Jose Augusto (Monterey, California. Naval Postgraduate School, 1994-12);This thesis develops, implements and tests a mine search algorithm for the Naval Postgraduate School Autonomous Underwater Vehicle (Phoenix). The vehicle is 72 inches long and displaces 400 pounds. Its maneuvers are performed ...