TY - GEN
T1 - Autonomous vehicle navigation with dynamic adaptation and complete coverage of unknown environments
AU - Jin, Xin
AU - Luff, Jacqueline M.
AU - Gupta, Shalabh
AU - Ray, Asok
N1 - Copyright:
Copyright 2011 Elsevier B.V., All rights reserved.
PY - 2010
Y1 - 2010
N2 - This paper presents a Statistical Mechanics-inspired navigation algorithm with dynamic adaptation and complete coverage of unknown environments, which is built upon the concept of generalized Ising model. The algorithm enables autonomous vehicles to cover all areas in the environment, avoid unknown obstacles and adapt to target neighborhoods. Potential applications of this algorithm are humanitarian de-mining, hazard detection and floor-cleaning tasks. The algorithm has been validated on a Player/Stage simulator with an example of minesweeping.
AB - This paper presents a Statistical Mechanics-inspired navigation algorithm with dynamic adaptation and complete coverage of unknown environments, which is built upon the concept of generalized Ising model. The algorithm enables autonomous vehicles to cover all areas in the environment, avoid unknown obstacles and adapt to target neighborhoods. Potential applications of this algorithm are humanitarian de-mining, hazard detection and floor-cleaning tasks. The algorithm has been validated on a Player/Stage simulator with an example of minesweeping.
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U2 - 10.1115/DSCC2010-4142
DO - 10.1115/DSCC2010-4142
M3 - Conference contribution
AN - SCOPUS:79958221125
SN - 9780791844175
T3 - ASME 2010 Dynamic Systems and Control Conference, DSCC2010
SP - 241
EP - 248
BT - ASME 2010 Dynamic Systems and Control Conference, DSCC2010
T2 - ASME 2010 Dynamic Systems and Control Conference, DSCC2010
Y2 - 12 September 2010 through 15 September 2010
ER -