A BEHAVIOR-BASED SYSTEM FOR OFF-ROAD NAVIGATION

被引：90

作者：

LANGER, D

ROSENBLATT, JK

HEBERT, M

机构：

[1] Robotics Institute, Carnegie Mellon University, Pittsburgh

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1994年 / 10卷 / 06期

基金：

美国国家科学基金会;

关键词：

D O I：

10.1109/70.338532

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we describe a core system for autonomous navigation in outdoor natural terrain. The system consists of three parts: a perception module that processes range images to identify untraversable regions of the terrain, a local map management module that maintains a representation of the environment in the vicinity of the vehicle, and a planning module that issues commands to the vehicle controller. We illustrate our approach by an experiment in which a vehicle travelled autonomously far one kilometer through unmapped cross-country terrain.

引用

页码：776 / 783

页数：8