MONAI: an autonomous navigation system for mobile robots

Author

Carre, F. ; Gallo, L. ; Mazar, B. ; Megel, F. ; Serra, B.

Author_Institution

Aerospatiale Missiles, Magny les Hameaux, France

Volume

3

fYear

1998

fDate

16-20 May 1998

Firstpage

2434

Abstract

This paper presents the results of the simulation work concerning the development of a Module for Navigation which is Autonomous and Intelligent (MONAI), made at Aerospatiale. Entirely based on vision channels, this system allows to achieve efficiently the navigation and guidance function of a rover, with a very favourable cost/effectiveness ratio. It is first dealt with the general principle of the navigation/guidance architecture, then with the detailed functions regarding landmark update, obstacle detection and motion assessment, with the first results from the simulations run

Keywords

computerised navigation; intelligent control; mobile robots; robot vision; MONAI; autonomous navigation system; cost/effectiveness ratio; guidance; intelligent system; landmark update; mobile robots; motion assessment; obstacle detection; simulation; vision channels; Computer architecture; Concrete; Cost function; Intelligent robots; Machine vision; Missiles; Mobile robots; Motion detection; Navigation; Orbital robotics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.680705

Filename

680705