Research of the optimal path planning methods for unmanned ground vehicle in DARPA Urban Challenge

摘要

This paper introduces an optimal algorithm through analyzing and studying various algorithms used in DARPA Urban Challenge 2007 and making a numerical statement about each algorithm. The top eleven teams that passed the NQE (National Qualifying Event) used Dijkstra, A*, RRTs, and D*. Therefore, this research will focus on those algorithms and study a method to apply an optimal algorithm.