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JIRS
2007

GODZILA: A Low-resource Algorithm for Path Planning in Unknown Environments

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GODZILA: A Low-resource Algorithm for Path Planning in Unknown Environments
— In this paper, we propose a novel path-planning and obstacle avoidance algorithm GODZILA for navigation in unknown environments. No prior knowledge of the environment is required. The path-planning algorithm follows a purely local approach using only the current range sensor measurements at each sampling instant and requiring only a small number of stored variables in memory. No map of the environment is built during navigation. This minimizes the memory and computational requirements for implementation of the algorithm, a feature that is especially attractive for small autonomous vehicles. The algorithm utilizes three components: an optimization algorithm, a local straight-line path planner to visible targets, and random navigation. It is proved, for navigation in any finite-dimensional space, that the pathplanning algorithm converges in finite time with probability
Prashanth Krishnamurthy, Farshad Khorrami
Added 15 Dec 2010
Updated 15 Dec 2010
Type Journal
Year 2007
Where JIRS
Authors Prashanth Krishnamurthy, Farshad Khorrami
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