An Automatic Navigation System for Vision Guided Vehicles Using a Double Heuristic and a Finite State Machine

Abstract

A navigation system for automatic vision guided vehicles has been presented. The system uses an efficient double heuristic search algorithm for path planning. It is capable of avoiding unknown obstacles and recovering from unidentifiable locations. A linked list representation of the path network database makes the implementation feasible in any high-level language and renders it suitable for real-time application. Extensive simulated experiments have been conducted to verify the validity of the proposed algorithms. © 1991 IEEE