A System for Autonomous Cross Country Navigation

Barry Brummit, R. Craig Coulter, Alonzo Kelly, and Anthony (Tony) Stentz
IFAC Symposium on Intelligent Components and Instruments for Control Applications, May, 1992.


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Abstract
Autonomous Cross-Country Navigation requires a system which can support a rapid traverse across challenging terrain while maintaining vehicle safety. This work describes a system for autonomous cross country navigation as implemented on the NavLab II, a computer-controlled off-road vehicle at Carnegie Mellon. The navigation software is discussed. The perception subsystem constructs digital maps of the terrain from range sensor data in real time. The planning subsystem uses a generate-and-test scheme to find safe trajectories through the map, and validates them through simulated driving. The planning process considers both kinematic and dynamic constraints on vehicle motion. The system was successful in achieving 300m autonomous runs on moderate terrain at speeds up to 4.25 m/s.

Keywords
Autonomous Mobile Robots, Obstacle Avoidance, Navigation, Image Processing

Notes

Text Reference
Barry Brummit, R. Craig Coulter, Alonzo Kelly, and Anthony (Tony) Stentz, "A System for Autonomous Cross Country Navigation," IFAC Symposium on Intelligent Components and Instruments for Control Applications, May, 1992.

BibTeX Reference
@inproceedings{Brummit_1992_1469,
   author = "Barry Brummit and R. Craig Coulter and Alonzo Kelly and Anthony (Tony) Stentz",
   title = "A System for Autonomous Cross Country Navigation",
   booktitle = "IFAC Symposium on Intelligent Components and Instruments for Control Applications",
   month = "May",
   year = "1992",
}