Path selection process utilizing rapid estimation schemeThe paper describes the use of a rapid estimation scheme for path selection by a roving vehicle. Essentially, the evaluation procedure simulates movement of the rover over each of several corridors lying radially outward from the scanning position. Two levels of corridors are used, and the path selection scheme selects the optimal primary corridor according to a dynamic programming algorithm. In the present version, the length of the corridors is variable. The rapid estimation scheme provides information to define corridor dimensions. This corridor structure, which varies as a function of the terrain, eliminates the need for backtracking, except in certain extreme cases. Computer results are promising in that obstacles were avoided while corridor lengths were kept to a maximum where safety permitted.
Document ID
19790039787
Acquisition Source
Legacy CDMS
Document Type
Conference Proceedings
Authors
Ring, H. (Rensselaer Polytechnic Inst. Troy, NY, United States)
Shen, C. N. (Rensselaer Polytechnic Institute, Troy, N.Y., United States)