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2006 18th IEEE International Conference on Tools with Artificial Intelligence (ICTAI'06) (2006)
Arlington, Virginia
Nov. 13, 2006 to Nov. 15, 2006
ISSN: 1082-3409
ISBN: 0-7695-2728-0
pp: 247-253
Jorge Nagel , GrayMatter, Inc., USA
Paul G. Trepagnier , GrayMatter, Inc., USA
Cris Koutsougeras , Southeastern LA University, USA
Powell M. Kinney , GrayMatter, Inc., USA
Matthew Dooner , GrayMatter, Inc., USA
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
INDEX TERMS
collision avoidance, navigation, road vehicles
CITATION

J. Nagel, P. G. Trepagnier, C. Koutsougeras, P. M. Kinney and M. Dooner, "The Culebra Algorithm for Path Planning and Obstacle Avoidance in Kat-5," 2006 18th IEEE International Conference on Tools with Artificial Intelligence (ICTAI'06)(ICTAI), Arlington, Virginia, 2007, pp. 247-253.
doi:10.1109/ICTAI.2006.110
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