We describe a core system for autonomous navigation in outdoor natural terrain. The system consists of three parts: a perception module which processes range images to identify untraversable regions of the terrain, a local map management module which maintains a representation of the environment in the vicinity of the vehicle, and a planning module which issues commands to the vehicle controller. Our approach is to use the concept of 'early traversability evaluation', and on the use of reactive planning for generating commands to drive the vehicle. We argue that our approach leads to a robust and efficient navigation system. We illustrate our approach by an experiment in which a vehicle travelled autonomously for one kilometer through unmapped cross-country terrain.


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    Titel :

    A reactive system for open terrain navigation: Performance and limitations


    Beteiligte:
    Langer, D. (Autor:in) / Rosenblatt, J. (Autor:in) / Hebert, M. (Autor:in)


    Erscheinungsdatum :

    1994-03-01


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Keine Angabe


    Sprache :

    Englisch


    Schlagwörter :


    Reactive System for Open Terrain Navigation: Performance and Limitations

    D. Langer / J. Rosenblatt / M. Hebert | NTIS | 1994


    A reactive system for open terrain navigation - Performance and limitations

    Langer, D. / Rosenblatt, J. / Hebert, M. | AIAA | 1994


    Integrating Terrain Maps Into a Reactive Navigation Strategy

    Howard, Ayanna / Werger, Barry / Seraji, Homayoun | NTRS | 2006


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