Title :
A behavior-based system for off-road navigation
Author :
Langer, D. ; Rosenblatt, J.K. ; Hebert, M.
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
fDate :
12/1/1994 12:00:00 AM
Abstract :
We describe a core system for autonomous navigation in outdoor natural terrain. The system consists of three parts: a perception module that processes range images to identify untraversable regions of the terrain, a local map management module that maintains a representation of the environment in the vicinity of the vehicle, and a planning module that issues commands to the vehicle controller. We illustrate our approach by an experiment in which a vehicle travelled autonomously for one kilometer through unmapped cross-country terrain
Keywords :
computerised navigation; image processing; mobile robots; vehicles; autonomous navigation; behavior-based system; local map management module; off-road navigation; outdoor natural terrain; perception module; planning module; range image processing; Buildings; Computer architecture; Control systems; Environmental management; Mobile robots; Navigation; Path planning; Process planning; Remotely operated vehicles; Vehicle driving;
Journal_Title :
Robotics and Automation, IEEE Transactions on
