Autonomous cross-country navigation is essential for outdoor robots moving about in unstructured environments. Most existing systems use range sensors to determine the shape of the terrain, plan a trajectory that avoids obstacles, and then drive the trajectory. Performance has been limited by the range and accuracy of sensors, insufficient vehicle-terrain interaction models, and the availability of high-speed computers. As these elements improve, higher-speed navigation on rougher terrain becomes possible. We have developed a software system for autonomous navigation that provides for greater capability. The perception system supports a large braking distance by fusing multiple range images to build a map of the terrain in front of the vehicle. The system identifies range shadows and interpolates undersampled regions to account for rough terrain effects. The motion planner reduces computational complexity by investigating a minimum number of trajectories. Speeds along the trajectory are set to provide for dynamic stability. The entire system was tested in simulation, and a subset of the capability was demonstrated on a real vehicle. Results to date include a continuous 5.1 kilometer run across moderate terrain with obstacles. This paper begins with the applications, prior work, limitations, and current paradigms for autonomous cross-country navigation, and then describes our contribution to the area.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    An autonomous system for cross-country navigation


    Additional title:

    Ein autonomes System für landüberspannende Navigation


    Contributors:
    Stentz, A. (author) / Brunitt, B.L. (author) / Coulter, R.C. (author) / Kelly, A. (author)


    Publication date :

    1992


    Size :

    12 Seiten, 8 Bilder, 22 Quellen





    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    A vision-based Flight Guidance and Navigation System for autonomous cross-country soaring UAVs

    Stolle, Martin / Bolting, Jan / Doll, Carsten et al. | IEEE | 2015


    From Cross-Country Autonomous Navigation to Intelligent Deep Space Communications: Visual Sensor Processing at JPL

    Manduchi, R. / Matthies, L. / Pollara, F. et al. | British Library Conference Proceedings | 2001




    Autonomous navigation system

    AL-DAHLE AHMAD / LAST MATTHEW E / SIEH PHILIP J et al. | European Patent Office | 2024

    Free access