Local Navigation for Unmanned Ground Vehicles – A Survey

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Authors
  1. Giesbrecht, J.
Corporate Authors
Defence R&D Canada - Suffield, Ralston ALTA (CAN)
Abstract
This document surveys existing methods of local navigation of mobile robots. It analyzes the state of the art in both indoor obstacle avoidance techniques and those for outdoor rough terrain. A variety of techniques such as Potential Fields, Vector Field Histogram, and Dynamic Window are examined in detail, in addition to outdoor systems such as Ranger, Morphin and the NIST Demo III architecture. Finally, it discusses the applicability of robot motion planning algorithms like Rapidly Exploring Random Trees to the robot navigation problem.

Il y a un résumé en français ici.

Keywords
Unmanned Ground Vehicle;navigation;path planning;obstacle avoidance;mobile robots
Report Number
DRDC-SUFFIELD-TM-2005-038 — Technical Memorandum
Date of publication
01 Dec 2005
Number of Pages
64
DSTKIM No
CA026718
CANDIS No
524639
Format(s):
Hardcopy;Electronic Document(PDF)

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