Title :
Fast cross-country navigation on fair terrains
Author :
Pagnot, Robert ; Grandjean, Pierrick
Author_Institution :
CNES, Toulouse, France
Abstract :
The cross-country navigation approach presented in this paper relies on two simplification ideas: obstacles are defected by scanning columns of a range image and motion steps are single straight-line trajectories. The resulting system is fast and only prohibits steep slopes or cluttered terrains. It also features a sophisticated planning criterion that yields good global performances. Its reliability has been demonstrated by successful outdoor traverses 70 meters long on a representative test site
Keywords :
mobile robots; motion control; object detection; path planning; robot vision; stereo image processing; cross-country navigation; fair terrains; global performances; motion steps; outdoor traverses; range image; sophisticated planning criterion; Mobile robots; Moon; Motion detection; Motion planning; Navigation; Orbital robotics; Space exploration; Stereo vision; Testing; Trajectory;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525648
