Autonomous land navigation in a structured environment

Author

Klarer, Paul R.

Author_Institution

Sandia Nat. Lab., Albuquerque, NM, USA

Volume

5

Issue

3

fYear

1990

fDate

3/1/1990 12:00:00 AM

Firstpage

9

Lastpage

12

Abstract

A hardware system and software developed to perform autonomous navigation of a land vehicle in a structured environment is described. The vehicle used for development and testing of the system was the Jeep Cherokee Mobile Robotics Testbed Vehicle. Since obstacle detection and avoidance have not yet been incorporated into the system, a structured environment is postulated that presumes that the paths to be traversed are free of obstacles. The system performs path planning and execution based on maps constructed using the vehicle´s onboard navigation system and mapmaker. The system software, hardware, and performance data are discussed.<>

Keywords

automatic guided vehicles; computerised navigation; mobile robots; Jeep Cherokee Mobile Robotics Testbed Vehicle; autonomous navigation; computerised navigation; execution; land navigation; land vehicle; maps; onboard navigation; path planning; structured environment; Hardware; Land vehicles; Mobile robots; Navigation; Path planning; Remotely operated vehicles; Software performance; Software systems; System software; System testing;

fLanguage

English

Journal_Title

Aerospace and Electronic Systems Magazine, IEEE

Publisher

ieee

ISSN

0885-8985

Type

jour

DOI

10.1109/62.56503

Filename

56503