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
DOIs
StatePublished - 2010
EventASME 2010 Dynamic Systems and Control Conference, DSCC2010 - Cambridge, MA, United States
Duration: Sep 12 2010Sep 15 2010

Publication series

NameASME 2010 Dynamic Systems and Control Conference, DSCC2010
Volume1

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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