Abstract
This paper presents the design and implementation of a map based route planning and navigation system (MBRPN) for an outdoor Autonomous Land Vehicle (ALV). A simple objectbased spatial representation is proposed. A hierarchical planning and navigation system architecture is designed. Global route pl-g allows finding optimal routes when considering road data and multi-constraints such as road width, surface type and slope, etc. The route searching is realized by a heuristic search algorithm A'. The cost function takes into account both the length of the route and the number of turns. A satisfactory result is achieved for shortest length route search as well as for least duration route search. Several experimental results and some implementation details are also given in this paper.
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