Alice: Path Planning - Revision history

Murray at 06:02, 14 April 2006

2006-04-14T06:02:49Z

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	{{cds270-2 header}} <!-- Generates the header, including table of contents and link back to main page -->		{{cds270-2 header}} <!-- Generates the header, including table of contents and link back to main page -->

	~~<!-- Enter~~ a ~~1 paragraph description of~~ the ~~contents of~~ the ~~lecture~~. ~~Make sure~~ to ~~include any key concepts~~, ~~so that~~ the ~~wiki search feature will pick them up~~ -->		Vehicle navigation through unstructured and previously unknown terrain is a challenging problem in autonomous robotics. This lecture describes the vehicle navigation algorithm used for Alice, Caltech's entry in the 2005 DARPA Grand Challenge. An optimization problem is continually solved to find a time-optimal, dynamically feasible trajectory from the vehicle’s position to some receding horizon ahead (20m-70m forward). The optimization is performed in two stages, one seeding the other. First, a rough, globally optimal spatial path is found by evaluating sets of piecewise linear curves through the map. Then the locally optimal nonlinear optimizer is run, optimizing both the spatial and temporal components of the trajectory simultaneously.
	~~This~~ is the ~~template for CDS 270 lectures~~. ~~If you edit this page~~, ~~you will see comments describing what goes in each section~~. ~~'''Do not edit this template.''' See [[CDS 270: Information for Lecturers]] for more information on how to create a wiki page corresponding to a lecture~~.

	== Lecture Materials ==		== Lecture Materials ==
	<!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful -->		* [[Media:L3-3_planner.pdf\|Lecture: Alice Path Planning]]
	~~<!-- Sample lecture link:~~ * [[Media:L1-~~1_Intro~~.pdf\|Lecture: ~~Networked Control Systems: Course Overview~~]] ~~-->~~

	== Reading ==		== Reading ==

Murray at 21:03, 13 April 2006

2006-04-13T21:03:05Z

← Older revision		Revision as of 21:03, 13 April 2006
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	== Reading ==		== Reading ==
			* <p>[http://www.cds.caltech.edu/~dkogan/plannerpaper.pdf Realtime Path Planning Via Nonlinear Optimization Methods], Dmitriy Kogan and Richard Murray. To be submitted, ''IEEE T. Robotics'', 2006. This paper describes Alice's path planner in a fair bit of detail, including the latest results of the optimizations that were performed and data taken from the grand challenge events.</p>

	* <p>[http://grandchallenge.caltech.edu/wiki/images/b/b3/Thesis.pdf Realtime Path Planning Via Nonlinear Optimization Methods], Dmitriy Kogan. MS Thesis, 2005. This thesis describes most of the internals of the path planning algorithm. It was written before some of the final tuning was performed on Alice (during summer of 2005).</p>		* <p>[http://grandchallenge.caltech.edu/wiki/images/b/b3/Thesis.pdf Realtime Path Planning Via Nonlinear Optimization Methods], Dmitriy Kogan. MS Thesis, 2005. This thesis describes most of the internals of the path planning algorithm. It was written before some of the final tuning was performed on Alice (during summer of 2005).</p>

	== Additional Resources ==		== Additional Resources ==
	<!-- Links to additional information. If there are good sources of additional information for students interested in exploring this topic further, these should go at the bottom of the page. -->		<!-- Links to additional information. If there are good sources of additional information for students interested in exploring this topic further, these should go at the bottom of the page. -->

Murray: /* Reading */

2006-04-13T20:56:43Z

Reading

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	== Reading ==		== Reading ==
	<~~!-- A reading list for the lecture~~. This ~~will typically be 3-5 articles or book chapters that are particularly relevant to~~ the ~~material being presented~~. ~~The reading list should be annotated to explain how the articles fit into the topic for~~ the ~~lecture~~. -->		* <p>[http://grandchallenge.caltech.edu/wiki/images/b/b3/Thesis.pdf Realtime Path Planning Via Nonlinear Optimization Methods], Dmitriy Kogan. MS Thesis, 2005. This thesis describes most of the internals of the path planning algorithm. It was written before some of the final tuning was performed on Alice (during summer of 2005).</p>

	== Additional Resources ==		== Additional Resources ==
	<!-- Links to additional information. If there are good sources of additional information for students interested in exploring this topic further, these should go at the bottom of the page. -->		<!-- Links to additional information. If there are good sources of additional information for students interested in exploring this topic further, these should go at the bottom of the page. -->

Murray: Alice: Path Planner moved to Alice: Path Planning

2006-04-13T05:36:00Z

Alice: Path Planner moved to Alice: Path Planning

← Older revision		Revision as of 05:36, 13 April 2006
(No difference)

Murray at 00:33, 9 April 2006

2006-04-09T00:33:59Z

New page

{{cds270-2 header}} 


This is the template for CDS 270 lectures. If you edit this page, you will see comments describing what goes in each section. '''Do not edit this template.''' See [[CDS 270: Information for Lecturers]] for more information on how to create a wiki page corresponding to a lecture.

== Lecture Materials ==



== Reading ==


== Additional Resources ==