DocumentCode
3440777
Title
Fast cross-country navigation on fair terrains
Author
Pagnot, Robert ; Grandjean, Pierrick
Author_Institution
CNES, Toulouse, France
Volume
3
fYear
1995
fDate
21-27 May 1995
Firstpage
2593
Abstract
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
Keywords
mobile robots; motion control; object detection; path planning; robot vision; stereo image processing; cross-country navigation; fair terrains; global performances; motion steps; outdoor traverses; range image; sophisticated planning criterion; Mobile robots; Moon; Motion detection; Motion planning; Navigation; Orbital robotics; Space exploration; Stereo vision; Testing; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location
Nagoya
ISSN
1050-4729
Print_ISBN
0-7803-1965-6
Type
conf
DOI
10.1109/ROBOT.1995.525648
Filename
525648
Link To Document