An Autonomous Vehicle Navigation Algorithm
Joseph S. B. Mitchell · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1984
We present a simple heuristic-based navigation algorithm for autonomous vehicle con-trol. We assume sensor input in the form of a range scan of distances to closest obstacles at a variety of angles in the vehicle's field of view. The algorithm works within a 2-dimensional model of the world to solve the problem of obstacle avoidance : find a collision-free path from START to GOAL.