Fast cross-country navigation on fair terrains

The cross-country navigation approach presented in this paper relies on two simplification ideas: obstacles are defected by scanning columns of a range image and motion steps are single straight-line trajectories. The resulting system is fast and only prohibits steep slopes or cluttered terrains. It...

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Bibliographic Details
Published inProceedings of 1995 IEEE International Conference on Robotics and Automation Vol. 3; pp. 2593 - 2598 vol.3
Main Authors Pagnot, R., Grandjean, P.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1995
Subjects
Mobile robots
Moon
Motion detection
Motion planning
Navigation
Orbital robotics
Space exploration
Stereo vision
Testing
Trajectory
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Summary:The cross-country navigation approach presented in this paper relies on two simplification ideas: obstacles are defected by scanning columns of a range image and motion steps are single straight-line trajectories. The resulting system is fast and only prohibits steep slopes or cluttered terrains. It also features a sophisticated planning criterion that yields good global performances. Its reliability has been demonstrated by successful outdoor traverses 70 meters long on a representative test site.
ISBN:0780319656
9780780319653
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.1995.525648