Autonomous vehicle navigation with dynamic adaptation and complete coverage of unknown environments

Xin Jin, Jacqueline M. Luff, Shalabh Gupta, Asok Ray

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Scopus citations

    Abstract

    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.

    Original languageEnglish (US)
    Title of host publicationASME 2010 Dynamic Systems and Control Conference, DSCC2010
    Pages241-248
    Number of pages8
    Volume1
    DOIs
    StatePublished - Dec 1 2010
    EventASME 2010 Dynamic Systems and Control Conference, DSCC2010 - Cambridge, MA, United States
    Duration: Sep 12 2010Sep 15 2010

    Other

    OtherASME 2010 Dynamic Systems and Control Conference, DSCC2010
    CountryUnited States
    CityCambridge, MA
    Period9/12/109/15/10

    All Science Journal Classification (ASJC) codes

    • Control and Systems Engineering

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  • Cite this

    Jin, X., Luff, J. M., Gupta, S., & Ray, A. (2010). Autonomous vehicle navigation with dynamic adaptation and complete coverage of unknown environments. In ASME 2010 Dynamic Systems and Control Conference, DSCC2010 (Vol. 1, pp. 241-248) https://doi.org/10.1115/DSCC2010-4142