Virginia Tech
A Greedy Search Algorithm for Maneuver-Based Motion Planning of Agile Vehicles
Abstract
dc:description.abstractThis 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.
Degree
thesis:*- Name thesis:degree_name
- Master of Science
- Level thesis:degree_level
- masters
- Discipline thesis:degree_discipline
- Aerospace and Ocean Engineering
- Department dc:contributor.department
- Aerospace and Ocean Engineering
- Grantor dc:publisher
- Virginia Tech
- Year dc:date.issued
- 2010
Author and committee
dc:creator, dc:contributor.*- Author dc:creator
-
- Neas, Charles Bennett
- Chair dc:contributor.committeechair
-
- Farhood, Mazen H.
- Committee members dc:contributor.committeemember
-
- Hall, Christopher D.
- Woolsey, Craig A.
Subjects
dc:subject × 4Rights
dc:rights- Statement dc:rights
-
- In Copyright
- Licence dc:rights.uri
Identifiers
dc:identifier.*- Dc Identifier Other
- etd-12162010-145541
- OAI identifier oai:identifier
- oai:vtechworks.lib.vt.edu:10919/36213