Real-time path planning using a simulator-in-the-loop
2009 (English)In: International Journal Vehicle Autonomous Systems, ISSN 1471-0226, Vol. 7, no 1/2, 56-72 p.Article in journal (Refereed) Published
This paper describes the development of a real-time path planner for off-road vehicles using a simulator. 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. 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.
Place, publisher, year, edition, pages
Inderscience , 2009. Vol. 7, no 1/2, 56-72 p.
path planning; simulator in the loop; obstacle avoidance; off-road vehicles; simulation; collision avoidance; path tracking.
Research subject Computer Science
IdentifiersURN: urn:nbn:se:umu:diva-30271DOI: 10.1504/IJVAS.2009.027967OAI: oai:DiVA.org:umu-30271DiVA: diva2:281260