File:INTERACTIVE MAP MAKING FOR ROUTE PLANNING AND OBSTACLE AVOIDANCE IN AN UNSTRUCTURED OUTDOOR ENVIRONMENT (IA interactivemapma1094560406).pdf
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Summary[edit]
INTERACTIVE MAP MAKING FOR ROUTE PLANNING AND OBSTACLE AVOIDANCE IN AN UNSTRUCTURED OUTDOOR ENVIRONMENT
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| Author |
Audette, Matthew R. |
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| Title |
INTERACTIVE MAP MAKING FOR ROUTE PLANNING AND OBSTACLE AVOIDANCE IN AN UNSTRUCTURED OUTDOOR ENVIRONMENT |
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| Publisher |
Monterey, CA; Naval Postgraduate School |
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| Description |
As autonomous ground robots fulfill greater roles within the military, there is a requirement for an operator to be able to quickly give minimal route-planning guidance in support of an autonomous mission. The objective of this thesis is to develop a route-planning algorithm that uses open-source satellite imagery to allow a user to plot a start point, a goal point, and identify large-scale obstacles within the robot’s operating area. In this thesis, we build on previous work that developed a potential field obstacle avoidance algorithm. We advance the development of the autonomous mission capability by creating a global path-planning algorithm. The algorithm uses the visibility graph and A* search method to produce the optimal path from the given start point to the goal. The navigation algorithm developed allows users to generate imagery-based obstacle maps in Google Earth Pro and successfully produces an optimal path in the form of global positioning satellite coordinates via extensive MATLAB code development. The method was evaluated on a ground robot navigating in an outdoor environment using the waypoints generated. The path-planning algorithm was successfully implemented, but due to difficulties encountered with the navigation node of the mobile robot, a complete verification was not possible. Improvements to the robot’s ability to traverse over rugged terrain will make this solution more viable for a wider range of outdoor environments. Subjects: visibility matrix; visibility graph; A*; optimal route; path planning; unmanned ground robot; autonomous ground robot; autonomous ground vehicle; robot |
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| Language | English | |
| Publication date | September 2018 | |
| Current location |
IA Collections: navalpostgraduateschoollibrary; fedlink |
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| Accession number |
interactivemapma1094560406 |
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| Source | ||
| Permission (Reusing this file) |
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States. | |
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This work is in the public domain in the United States because it is a work prepared by an officer or employee of the United States Government as part of that person’s official duties under the terms of Title 17, Chapter 1, Section 105 of the US Code.
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| This file has been identified as being free of known restrictions under copyright law, including all related and neighboring rights. | ||
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| Date/Time | Thumbnail | Dimensions | User | Comment | |
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| current | 03:51, 22 July 2020 |  | 1,275 × 1,650, 102 pages (4.45 MB) | Fæ (talk | contribs) | FEDLINK - United States Federal Collection interactivemapma1094560406 (User talk:Fæ/IA books#Fork8) (batch 1993-2020 #19080) |
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