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.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Reactive System for Open Terrain Navigation: Performance and Limitations


    Contributors:
    D. Langer (author) / J. Rosenblatt (author) / M. Hebert (author)

    Publication date :

    1994


    Size :

    7 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




    A reactive system for open terrain navigation: Performance and limitations

    Langer, D. / Rosenblatt, J. / Hebert, M. | NTRS | 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


    TERRAIN REFERENCED NAVIGATION SYSTEM

    PRICE ANDREW / GEOFFREY HENDERSON | European Patent Office | 2022

    Free access

    TERRAIN REFERENCED NAVIGATION SYSTEM

    HENDERSON GEOFFREY THOMAS | European Patent Office | 2024

    Free access