Title :
Experimental Analysis of Overhead Data Processing To Support Long Range Navigation
Author :
Silver, David ; Sofman, Boris ; Vandapel, Nicolas ; Bagnell, J. Andrew ; Stentz, Anthony
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA
Abstract :
Long range navigation by unmanned ground vehicles continues to challenge the robotics community. Efficient navigation requires not only intelligent on-board perception and planning systems, but also the effective use of prior knowledge of the vehicle´s environment. This paper describes a system for supporting unmanned ground vehicle navigation through the use of heterogeneous overhead data. Semantic information is obtained through supervised classification, and vehicle mobility is predicted from available geometric data. This approach is demonstrated and validated through over 50 kilometers of autonomous traversal through complex natural environments
Keywords :
mobile robots; remotely operated vehicles; road vehicles; heterogeneous overhead data; intelligent on-board perception system; long range navigation; overhead data processing; planning system; semantic information; supervised classification; unmanned ground vehicles; vehicle mobility; Costs; Data analysis; Data processing; Ground support; Image resolution; Intelligent robots; Land vehicles; Mobile robots; Navigation; Remotely operated vehicles;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.281686
