|
|
|
|
RI | Publications | A System for Autonomous Cross Country Navigation
|
|
Text only version of this site
A System for Autonomous Cross Country Navigation
B. Brummit, R.C. Coulter, A. Kelly, and A. Stentz
IFAC Symposium on Intelligent Components and Instruments for Control Applications, May, 1992.
Jump to: Download | Abstract | Text Reference | BibTeX Reference
| Download [Help] |
Adobe portable document format (pdf) [70 KB] Compressed postscript (ps.gz) [97 KB]
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.
| 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.
| Text Reference |
B. Brummit, R.C. Coulter, A. Kelly, and A. 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"
}