Cooperative agent navigation in partially unknown urban environments
Jiří Vokřínek, Antonín Komenda, Michal Pěchouček · 2010
Navigation of unmanned ground vehicles in an urban area is a fundamental problem which has to be solved prior to real-world deployment of the autonomous ground assets. Since the topology data of the environment are usually known a priori, they can be exploited in high-level planning of the routes. On the other hand, the low-level robot control requires precise path to follow and thus trajectory planning has to be adopted as well. Finally, the particular details of the environment can differ from the known topology and thus the vehicles need an area exploration method.