Research of the optimal path planning methods for unmanned ground vehicle in DARPA Urban Challenge
Hoon Je Woo, Sang Bae Park, Jung Ha Kim · 2008
This paper introduces an optimal algorithm through analyzing and studying various algorithms used in DARPA Urban Challenge 2007 and making a numerical statement about each algorithm. The top eleven teams that passed the NQE (National Qualifying Event) used Dijkstra, A*, RRTs, and D*. Therefore, this research will focus on those algorithms and study a method to apply an optimal algorithm.