Autonomous Coverage Operations in Semi-Structured Outdoor Environments
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 743 - 749, September, 2002
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.
BibTeX
@conference{Batavia-2002-8562,author = {Parag Batavia and Stephan Roth and Sanjiv Singh},
title = {Autonomous Coverage Operations in Semi-Structured Outdoor Environments},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2002},
month = {September},
volume = {1},
pages = {743 - 749},
}
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