This paper describes a hardware and software system developed to perform autonomous navigation of a land vehicle in a structured environment. The vehicle used for development and testing of the system was the Jeep Cherokee Mobile Robotics Testbed Vehicle developed at Sandia National Laboratories in Albuquerque. Since obstacle detection/avoidance has not yet been incorporated into the system, a structured environment is postulated that presumes the paths to be traversed are obstacle-free. The system performs path planning and execution (following) based on maps constructed using the vehicle's navigation system and onboard map-maker. The system configuration allows a map to be generated and stored during teleoperation of the vehicle, which may then be inverted and autonomously followed to perform ''retrotraverse'' back to the path start point. The system software, hardware, and performance data are discussed. 9 refs.


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    Title :

    Autonomous Land Navigation: A Demonstration of Retrotraverse


    Contributors:

    Publication date :

    1989


    Size :

    8 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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