{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/36213"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/36213","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"A Greedy Search Algorithm for Maneuver-Based Motion Planning of Agile Vehicles","abstract":"This thesis presents a greedy search algorithm for maneuver-based motion planning of agile vehicles. In maneuver-based motion planning, vehicle maneuvers are solved offline and saved in a library to be used during motion planning. From this library, a tree of possible vehicle states can be generated through the search space. A depth-first, library-based algorithm called AD-Lib is developed and used to quickly provide feasible trajectories along the tree. AD-Lib combines greedy search techniques with hill climbing and effective backtracking to guide the search process rapidly towards the goal. Using simulations of a four-thruster hovercraft, AD-Lib is compared to existing suboptimal search algorithms in both known and unknown environments with static obstacles. AD-Lib is shown to be faster than existing techniques, at the expense of increased path cost. The motion planning strategy of AD-Lib along with a switching controller is also tested in an environment with dynamic obstacles.","abstract_html":"This thesis presents a greedy search algorithm for maneuver-based motion planning of agile vehicles. In maneuver-based motion planning, vehicle maneuvers are solved offline and saved in a library to be used during motion planning. From this library, a tree of possible vehicle states can be generated through the search space. A depth-first, library-based algorithm called AD-Lib is developed and used to quickly provide feasible trajectories along the tree. AD-Lib combines greedy search techniques with hill climbing and effective backtracking to guide the search process rapidly towards the goal. Using simulations of a four-thruster hovercraft, AD-Lib is compared to existing suboptimal search algorithms in both known and unknown environments with static obstacles. AD-Lib is shown to be faster than existing techniques, at the expense of increased path cost. The motion planning strategy of AD-Lib along with a switching controller is also tested in an environment with dynamic obstacles.","abstract_has_math":false,"creators":["Neas, Charles Bennett"],"institution":"Virginia Tech","degree_name":"Master of Science","degree_level":"masters","degree_discipline":"Aerospace and Ocean Engineering","degree_department":"Aerospace and Ocean Engineering","school":null,"contributors":[],"advisors":[],"committee_chairs":["Farhood, Mazen H."],"committee_members":["Hall, Christopher D.","Woolsey, Craig A."],"year":2010,"date_issued":"2010-11-30","date_published":"2010-11-30","updated_at":"2026-07-22T22:19:24Z","subjects":["Motion Primitives","A*","Motion Planning","Heuristic Search"],"languages":[],"rights":["In Copyright"],"rights_urls":["http://rightsstatements.org/vocab/InC/1.0/"],"identifier_entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["etd-12162010-145541"],"render_values":[{"text":"etd-12162010-145541","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/10919/36213","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.committeechair","label":"Committee Chair","values":["Farhood, Mazen H."]},{"key":"dc:contributor.committeemember","label":"Committee Member","values":["Hall, Christopher D.","Woolsey, Craig A."]},{"key":"dc:contributor.department","label":"Department","values":["Aerospace and Ocean Engineering"]},{"key":"dc:creator","label":"Author","values":["Neas, Charles Bennett"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2014-03-14T20:50:07Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2014-03-14T20:50:07Z","2011-12-29"]},{"key":"dc:date.issued","label":"Date","values":["2010-11-30"]},{"key":"dc:publisher","label":"Institution","values":["Virginia Tech"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Aerospace and Ocean Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["masters"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Virginia Polytechnic Institute and State University"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Motion Primitives","A*","Motion Planning","Heuristic Search"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:rights","label":"Dc Rights","values":["In Copyright"]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://rightsstatements.org/vocab/InC/1.0/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["etd-12162010-145541"]},{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/10919/36213"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["This thesis presents a greedy search algorithm for maneuver-based motion planning of agile vehicles. 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