Computer Simulation Study of a Sensor-Based Heuristic Navigation for Three-Dimensional Rough Terrain with Obstacles.

摘要

A search strategy for autonomous vehicle navigation over three-dimensional digitized terrain containing obstacles is presented and studied in this thesis. The vehicle possesses no a priori information about terrain. Using only information obtained through a sensor which has a limited sensing range, the vehicle navigates a goal utilizing heuristics adopted from human behavior. Simulation results produce a near-optimal path solution in a very short time. Simulation results also prove that this strategy is suitable for real-time navigation under dynamically changing or unknown environments. Theses.(RRH)