The Culebra Algorithm for Path Planning and Obstacle Avoidance in Kat-5

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http://doi.ieeecomputersociety.org/10.1109/ICTAI.2006.110

18th IEEE International Conference on ...

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	ASCII Text	x
	Jorge Nagel, Paul G. Trepagnier, Cris Koutsougeras, Powell M. Kinney, Matthew Dooner, "The Culebra Algorithm for Path Planning and Obstacle Avoidance in Kat-5," Tools with Artificial Intelligence, IEEE International Conference on, pp. 247-253, 18th IEEE International Conference on Tools with Artificial Intelligence (ICTAI'06), 2006.

	BibTex	x
	@article{ 10.1109/ICTAI.2006.110, author = {Jorge Nagel and Paul G. Trepagnier and Cris Koutsougeras and Powell M. Kinney and Matthew Dooner}, title = {The Culebra Algorithm for Path Planning and Obstacle Avoidance in Kat-5}, journal ={Tools with Artificial Intelligence, IEEE International Conference on}, volume = {0}, year = {2006}, issn = {1082-3409}, pages = {247-253}, doi = {http://doi.ieeecomputersociety.org/10.1109/ICTAI.2006.110}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }

	RefWorks Procite/RefMan/Endnote	x
	TY - CONF JO - Tools with Artificial Intelligence, IEEE International Conference on TI - The Culebra Algorithm for Path Planning and Obstacle Avoidance in Kat-5 SN - 1082-3409 SP247 EP253 A1 - Jorge Nagel, A1 - Paul G. Trepagnier, A1 - Cris Koutsougeras, A1 - Powell M. Kinney, A1 - Matthew Dooner, PY - 2006 KW - null VL - 0 JA - Tools with Artificial Intelligence, IEEE International Conference on ER -

Jorge Nagel, GrayMatter, Inc., USA

Paul G. Trepagnier, GrayMatter, Inc., USA

Cris Koutsougeras, Southeastern LA University, USA

Powell M. Kinney, GrayMatter, Inc., USA

Matthew Dooner, GrayMatter, Inc., USA

Kat-5 was the fourth vehicle to successfully finish the DARPA 2005 Grand Challenge; the first time ever that autonomous vehicles were able to successfully complete such a task. In this paper, we describe the methods that were used to develop the vehicle?s path planning and obstacle avoidance algorithms, which allowed Kat-5 to successfully navigate completely autonomously the 132 miles course over rough and previously unrehearsed and unknown terrain at relatively high speeds.

Citation:

Jorge Nagel, Paul G. Trepagnier, Cris Koutsougeras, Powell M. Kinney, Matthew Dooner, "The Culebra Algorithm for Path Planning and Obstacle Avoidance in Kat-5," ictai, pp.247-253, 18th IEEE International Conference on Tools with Artificial Intelligence (ICTAI'06), 2006

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