A navigation strategy for an autonomous patrol vehicle based on multi-fusion planning algorithms and multi-paradigm representation schemes

作者：Zaki Osama^*; Dunnigan Matthew

来源：Robotics and Autonomous Systems, 2017, 96: 133-142.

DOI：10.1016/j.robot.2017.07.012

• Autonomous navigation
• Dynamic GIS modelling
• Motion planning

This paper considers the robot navigation task as an algorithmic and representational one in a way that the performance of the navigation task cannot be measured without combining those two elements. As a result of this view, a unique new navigation strategy based on combined multi-fusion planning algorithms and multi-paradigm representation schemes is presented. An overall architecture for a new navigation strategy is also proposed. Discrete and continuous planning algorithms are combined in a hierarchal fashion. GIS models and ontology are also combined to form rich media for representing dynamic data and knowledge. Experimental results with an evaluation of the schemes are presented.

• 出版日期2017-10