Title page for ETD etd-12162010-145541


Type of Document Master's Thesis
Author Neas, Charles Bennett
Author's Email Address cneas@vt.edu
URN etd-12162010-145541
Title A Greedy Search Algorithm for Maneuver-Based Motion Planning of Agile Vehicles
Degree Master of Science
Department Aerospace and Ocean Engineering
Advisory Committee
Advisor Name Title
Farhood, Mazen Committee Chair
Hall, Christopher D. Committee Member
Woolsey, Craig A. Committee Member
Keywords
  • Motion Primitives
  • A*
  • Motion Planning
  • Heuristic Search
Date of Defense 2010-11-30
Availability unrestricted
Abstract
This thesis presents a greedy search algorithm for maneuver-based motion planning of agile vehicles. In maneuver-based motion planning, vehicle maneuvers are solved offline and saved in a library to be used during motion planning. From this library, a tree of possible vehicle states can be generated through the search space. A depth-first, library-based algorithm called AD-Lib is developed and used to quickly provide feasible trajectories along the tree. AD-Lib combines greedy search techniques with hill climbing and effective backtracking to guide the search process rapidly towards the goal. Using simulations of a four-thruster hovercraft, AD-Lib is compared to existing suboptimal search algorithms in both known and unknown environments with static obstacles. AD-Lib is shown to be faster than existing techniques, at the expense of increased path cost. The motion planning strategy of AD-Lib along with a switching controller is also tested in an environment with dynamic obstacles.
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