INTEGRATING LOCAL AND GLOBAL NAVIGATION IN UNMANNED GROUND VEHICLES

Hierarchical approaches to autonomous navigation usually divide path planning in two levels: local and global navigation. While these two approaches are complementary and can perform very well, they introduce the additional challenge of integrating them in a way that maximizes their strengths and minimizes their weaknesses. In this paper, we evaluate three different approaches to integrating global and local navigation: route-based navigation, route-based navigation with replanning, and combined navigation using the Field Cost Interface (FCI). 1