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Path planning for off-road vehicles with a simulator-in-the-loop
Umeå University, Faculty of Science and Technology, Department of Computing Science.
Umeå University, Faculty of Science and Technology, Department of Computing Science.
2008 (English)Report (Other academic)
Abstract [en]

This paper describes the development of a real-time path planner for off-road vehicles using a simulator. The work was triggered by a need for an obstacle-avoidance and path-planning system in our work with autonomous forest machines. The general idea with the presented system is to extend a standard path-tracking algorithm with a simulator that, in real-time, tries to predict collisions in a window forward in time. This simulation is based on current sensor data giving information about the environment around the vehicle. If a collision is predicted, the vehicle is stopped and a path-search phase is initiated. Variants of the original path are generated and simulated until a feasible path is found. The real vehicle then continues, now tracking the replanned path. In simulated tests, this way of using a simulator to predict and avoid collisions works well. The system is able to safely navigate around obstacles on and close to the path in a way that is hard or impossible to achieve with standard obstacle-avoidance algorithms that do not take the shape of the vehicle into account. Another scenario, also envisioned in forest environment, is off-line path planning of a longer route, based on map information. An approximate path given by a straight line from start to goal is then modified in the same way as described above.

Place, publisher, year, edition, pages
Umeå: Datavetenskap , 2008. , 20 p.
Report / UMINF, ISSN 0348-0542 ; 08.07
Keyword [en]
Path planning, Autonomous vehicles
National Category
Computer Science
URN: urn:nbn:se:umu:diva-1771OAI: diva2:141957
Available from: 2008-06-23 Created: 2008-06-23 Last updated: 2013-02-04Bibliographically approved

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Hellström, ThomasRingdahl, Ola
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