Title :
Where and when to look: how to extend the myopic planning horizon
Author :
Nabbe, Bart ; Hebert, Martial
Author_Institution :
Inst. of Robotics, Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
In this paper we describe an approach towards integrating mid-range sensing data into a dynamic path planning algorithm. The key problem, sensing for planning is addressed in the context of outdoor navigation. An algorithmic approach is described towards solving these problems and both simulation results and initial experimental results for outdoor navigation using wide baseline stereo data are presented.
Keywords :
aerospace robotics; navigation; path planning; autonomous robotics systems; myopic planning horizon; outdoor navigation; path planning algorithm; wide baseline stereo data; Computational geometry; Heuristic algorithms; Image reconstruction; Mobile robots; Navigation; Path planning; Robot sensing systems; Sensor systems; Vehicle driving; Vehicle dynamics;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1250746
