Experimental Analysis of Overhead Data Processing To Support Long Range Navigation

Author

Silver, David ; Sofman, Boris ; Vandapel, Nicolas ; Bagnell, J. Andrew ; Stentz, Anthony

Author_Institution

Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

2443

Lastpage

2450

Abstract

Long range navigation by unmanned ground vehicles continues to challenge the robotics community. Efficient navigation requires not only intelligent on-board perception and planning systems, but also the effective use of prior knowledge of the vehicle´s environment. This paper describes a system for supporting unmanned ground vehicle navigation through the use of heterogeneous overhead data. Semantic information is obtained through supervised classification, and vehicle mobility is predicted from available geometric data. This approach is demonstrated and validated through over 50 kilometers of autonomous traversal through complex natural environments

Keywords

mobile robots; remotely operated vehicles; road vehicles; heterogeneous overhead data; intelligent on-board perception system; long range navigation; overhead data processing; planning system; semantic information; supervised classification; unmanned ground vehicles; vehicle mobility; Costs; Data analysis; Data processing; Ground support; Image resolution; Intelligent robots; Land vehicles; Mobile robots; Navigation; Remotely operated vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0258-1

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.281686

Filename

4058754