Keywords
autonomous mobile agents, heterogeneous constraints
Abstract
Most autonomous mobile agents operate in a highly constrained environment. Despite significant research, existing solutions are limited in their ability to handle heterogeneous constraints within highly dynamic or uncertain environments. This paper presents a novel maneuver selection technique suited for both 2D and 3D environments with highly dynamic maneuvering constraints and multiple mobile obstacles. Agents may have any arbitrary set of nonholonomic control variables; maneuvers can be constrained by a broad class of function inequalities, including time-dependent constraints involving nonlinear relationships between controlled and agent-state variables. The resulting algorithm has been implemented to run in real time using only a fraction of the CPU’s capacity on an ordinary notebook computer and performs well in a number of taxing simulated situations.
Original Publication Citation
Luther A. Tychonievich, Robert P. Burton, and Louis P. Tychonievich, "Reactive Navigation," IEEE/RJS International Conference on Intelligent Robots and Systems (IROS), 2966-2972, October 11-15, 29.
BYU ScholarsArchive Citation
Burton, Robert P.; Tychonievich, Luther A.; and Tychonievich, Louis P., "Versatile Reactive Navigation" (2009). Faculty Publications. 122.
https://scholarsarchive.byu.edu/facpub/122
Document Type
Peer-Reviewed Article
Publication Date
2009-10-01
Permanent URL
http://hdl.lib.byu.edu/1877/2570
Publisher
IEEE
Language
English
College
Physical and Mathematical Sciences
Department
Computer Science
Copyright Status
© 2009 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Copyright Use Information
http://lib.byu.edu/about/copyright/