Hierarchical approaches to autonomous navigation usually divide path planning in two levels: local and global navigation. While these two approaches are complementary and can perform very well, they introduce the additional challenge of integrating them in a way that maximizes their strengths and minimizes their weaknesses. In this paper, we evaluate three different approaches to integrating global and local navigation: route-based navigation, route-based navigation with replanning, and combined navigation using the Field Cost Interface (FCI).


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    Title :

    Integrating Local and Global Navigation in Unmanned Ground Vehicles


    Contributors:
    J. P. Gonzalez (author) / W. Dodson (author) / R. Dean (author) / A. Lacaze (author) / L. Sapronov (author)

    Publication date :

    2008


    Size :

    6 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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