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Carnegie Mellon Robotics Institute

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Abstract

This paper presents a comprehensive navigation system capable of extended coverage operations in semi-structured environments. By semi-structured, we mean pre-mapped terrain that although locally smooth has potentially large changes in elevation and that is generally free of obstacles. The system has three key capabilities -- it is able to track specified paths with high accuracy, detect small obstacles reliably, and plan coverage patterns to completely cover a specified area. These technologies have been combined and implemented on a mobile robot, which has accumulated over 90km of autonomous operation to date. Here we report on the components, the architecture, and experimental results.

Notes

Associated Center(s) / Consortia: National Robotics Engineering Center and Field Robotics Center

Associated Project(s): Golf Course Mowing

Number of pages: 7

Text Reference

Parag Batavia, , and Sanjiv Singh, "Autonomous Coverage Operations in Semi-Structured Outdoor Environments," 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), October, 2002.

BibTeX Reference

@inproceedings{Batavia_2002_4117,
   author = "Parag Batavia and and Sanjiv Singh",
   title = "Autonomous Coverage Operations in Semi-Structured Outdoor Environments",
   booktitle = "2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02)",
   month = "October",
   year = "2002",
}

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