Title :
The Culebra Algorithm for Path Planning and Obstacle Avoidance in Kat-5
Author :
Nagel, Jorge ; Trepagnier, Paul G. ; Koutsougeras, Cris ; Kinney, Powell M. ; Dooner, Matthew
Author_Institution :
GrayMatter, Inc., Metairie, LA
Abstract :
Kat-5 was the fourth vehicle to successfully finish the DARPA 2005 Grand Challenge; the first time ever that autonomous vehicles were able to successfully complete such a task. In this paper, we describe the methods that were used to develop the vehicle´s path planning and obstacle avoidance algorithms, which allowed Kat-5 to successfully navigate completely autonomously the 132 miles course over rough and previously unrehearsed and unknown terrain at relatively high speeds
Keywords :
collision avoidance; navigation; road vehicles; Culebra algorithm; Kat-5; autonomous vehicles; obstacle avoidance; path planning; Artificial intelligence; Computer industry; Computer science; Global Positioning System; Laser radar; Mobile robots; Navigation; Path planning; Remotely operated vehicles; Sensor systems;
Conference_Titel :
Tools with Artificial Intelligence, 2006. ICTAI '06. 18th IEEE International Conference on
Conference_Location :
Arlington, VA
Print_ISBN :
0-7695-2728-0
DOI :
10.1109/ICTAI.2006.110
