We describe a core system for autonomous navigation in outdoor natural terrain. The system consists of three parts: a perception module that processes range images to identify untraversable regions of the terrain, a local map management module that maintains a representation of the environment in the vicinity of the vehicle, and a planning module that issues commands to the vehicle controller. We illustrate our approach by an experiment in which a vehicle travelled autonomously for one kilometer through unmapped cross-country terrain.
A behavior-based system for off-road navigation
Ein verhaltensbasiertes System für die Navigation im Gelände
IEEE Transactions on Robotics and Automation ; 10 , 6 ; 776-783
1994
8 Seiten, 12 Quellen
Aufsatz (Zeitschrift)
Englisch
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