A Complete Navigation System for Goal Acquisition in Unknown Environments

Anthony (Tony) Stentz and Martial Hebert
Proceedings 1995 IEEE/RSJ International Conference On Intelligent Robotic Systems (IROS '95), August, 1995, pp. 425 - 432.


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Abstract
Most autonomous outdoor navigation systems tested on actual robots have centered on local navigation tasks such as avoiding obstacles or following roads. Global navigation has been limited to simple wandering, path tracking, straight-line goal seeking behaviors, or executing a sequence of scripted local behaviors. These capabilities are insufficient for unstructured and unknown environments, where replanning may be needed to account for new information discovered in every sensor image. To address these problems, the authors developed a complete system that integrates local and global navigation. The local system uses a scanning laser rangefinder to detect and avoid obstacles. The global system uses an incremental path planning algorithm to optimally replan the global path for each detected obstacle. A control arbiter steers the robot to achieve the proper balance between safety and goal acquisition. This system was tested on a real robot and successfully drove it 1.4 kilometers to find a goal given no a priori map of the environment.

Notes
Associated Center(s) / Consortia: Space Robotics Initiative and Field Robotics Center
Associated Project(s): Mars Autonomy

Text Reference
Anthony (Tony) Stentz and Martial Hebert, "A Complete Navigation System for Goal Acquisition in Unknown Environments," Proceedings 1995 IEEE/RSJ International Conference On Intelligent Robotic Systems (IROS '95), August, 1995, pp. 425 - 432.

BibTeX Reference
@inproceedings{Stentz_1995_2671,
   author = "Anthony (Tony) Stentz and Martial Hebert",
   title = "A Complete Navigation System for Goal Acquisition in Unknown Environments",
   booktitle = "Proceedings 1995 IEEE/RSJ International Conference On Intelligent Robotic Systems (IROS '95)",
   pages = "425 - 432",
   month = "August",
   year = "1995",
   volume = "1",
}