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Motion Planning for an Autonomous Vehicle

  • Gordon T. Wilfong

Abstract

The use of autonomous vehicles for moving materials between workstations is an important consideration in the overall design of a flexible automated factory. An algorithm for computing a collision-free motion for a vehicle with limited steering range is presented and its running time is analyzed. When given m “lanes” on which the vehicle is allowed to move in a polygonal environment of complexity n the algorithm produces a motion with the minimum number of turns between two query placements of the vehicle in time O(m 2) after O(m 2(n 2 + logm)) preprocessing. A restricted version of the algorithm has been implemented.

Keywords

Motion Planning Critical Radius Autonomous Vehicle Adjacency List Entrance Direction 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

  1. 1.
    Cox, I.J. Blanche: An Autonomous Robot Vehicle for Structured Environments. In Proc. IEEE Int. Conf. Robotics and Automation, 1988.Google Scholar
  2. 2.
    Fortune, S.J. and Wilfong, G.T. Constrained Motion Planning. In Proc. ACM Symp. Theory of Comput., 1988.Google Scholar
  3. 3.
    Nelson, W.L. and Cox, I.J. Local Path Control for an Autonomous Vehicle. In Proc. IEEE Int. Conf. Robotics and Automation, 1988.Google Scholar
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    Yap, C.K. Algorithmic Motion Planning. In Advances in Robotics, Volume 1: Algorithmic and Geometric Aspects, C.K. Yap and J.T. Schwartz, Eds. Lawrence Erlbaum Assoc., Hillsdale NJ, 1986Google Scholar

Copyright information

© AT&T 1990

Authors and Affiliations

  • Gordon T. Wilfong
    • 1
  1. 1.AT&T Bell LaboratoriesMurray HillUSA

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