A Behavior-Based System for Off-Road Navigation
Journal Article, IEEE Transactions on Robotics and Automation, Vol. 10, No. 6, pp. 776 - 783, December, 1994
Abstract
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 for one kilometer through unmapped cross-country terrain.
BibTeX
@article{Langer-1994-13811,author = {Dirk Langer and Julio Rosenblatt and Martial Hebert},
title = {A Behavior-Based System for Off-Road Navigation},
journal = {IEEE Transactions on Robotics and Automation},
year = {1994},
month = {December},
volume = {10},
number = {6},
pages = {776 - 783},
}
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