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Accumulated Surfaces & Least-Cost Paths: GIS Modeling for Autonomous Ground Vehicle (AGV) Navigation

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dc.contributor.authorStahl, Christopher Wayneen
dc.contributor.committeechairCarstensen, Laurence W.en
dc.contributor.committeememberReinholtz, Charles F.en
dc.contributor.committeememberCampbell, James B. Jr.en
dc.contributor.departmentGeographyen
dc.date.accessioned2014-03-14T20:38:41Zen
dc.date.adate2005-06-21en
dc.date.available2014-03-14T20:38:41Zen
dc.date.issued2005-05-11en
dc.date.rdate2005-06-21en
dc.date.sdate2005-05-26en
dc.description.abstractThe Geographic Information System (GIS) is a crucial part of any land navigation system. Autonomous ground vehicles should have access to stored geographic data and the ability to manipulate it for routing purposes. Since there is no human interaction involved in operating these vehicles, data that a human driver would use to make decisions must be stored in the GIS. The data which represent the earth's surface become a series of factors and constraints which translate to friction in terms of mobility. Factors need to be weighted appropriately, but require a sensitivity analysis before designating these weights. Constraints do not require any weight because they represent absolute barriers which cannot be traveled upon. All GIS layers are incorporated into the raster environment, so that an accumulated surfaces can be built on which a least-cost path can be located. The sensitivity analysis allows generation of many routes which can be field tested for the appropriate weight selection for each factor. Ultimately, the entire process would select an optimal path and output closely spaced waypoints which the vehicle can follow.en
dc.description.degreeMaster of Scienceen
dc.identifier.otheretd-05262005-151814en
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-05262005-151814/en
dc.identifier.urihttp://hdl.handle.net/10919/33266en
dc.publisherVirginia Techen
dc.relation.haspartthesisfinal.pdfen
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjectAutonomousen
dc.subjectCost or Accumulated Surfacesen
dc.subjectLeast-Cost Pathsen
dc.subjectGISen
dc.titleAccumulated Surfaces & Least-Cost Paths: GIS Modeling for Autonomous Ground Vehicle (AGV) Navigationen
dc.typeThesisen
thesis.degree.disciplineGeographyen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.levelmastersen
thesis.degree.nameMaster of Scienceen

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