NDLI: Autonomous navigation by a mobile robot

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Autonomous navigation by a mobile robot

Content Provider	NASA Technical Reports Server (NTRS)
Author	Aghazarian, Hrand Huntsberger, Terrance
Copyright Year	2005
Description	ROAMAN is a computer program for autonomous navigation of a mobile robot on a long (as much as hundreds of meters) traversal of terrain. Developed for use aboard a robotic vehicle (rover) exploring the surface of a remote planet, ROAMAN could also be adapted to similar use on terrestrial mobile robots. ROAMAN implements a combination of algorithms for (1) long-range path planning based on images acquired by mast-mounted, wide-baseline stereoscopic cameras, and (2) local path planning based on images acquired by body-mounted, narrow-baseline stereoscopic cameras. The long-range path-planning algorithm autonomously generates a series of waypoints that are passed to the local path-planning algorithm, which plans obstacle-avoiding legs between the waypoints. Both the long- and short-range algorithms use an occupancy-grid representation in computations to detect obstacles and plan paths. Maps that are maintained by the long- and short-range portions of the software are not shared because substantial localization errors can accumulate during any long traverse. ROAMAN is not guaranteed to generate an optimal shortest path, but does maintain the safety of the rover.
File Size	51681
Page Count	1
File Format	PDF
Alternate Webpage(s)	http://archive.org/details/NASA_NTRS_Archive_20110014897
Archival Resource Key	ark:/13960/t0wq4xr71
Language	English
Publisher Date	2005-05-01
Access Restriction	Open
Subject Keyword	Cybernetics, Artificial Intelligence And Robotics Trajectory Planning Autonomous Navigation Robot Control Terrain Cameras Robot Dynamics Planetary Surfaces Robotics Robots Computer Programs Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science
Content Type	Text
Resource Type	Technical Report

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