NDLI: A complete navigation system for goal acquisition in unknown environments

Content Provider	IEEE Xplore Digital Library
Author	Stentz, A. Hebert, M.
Copyright Year	1995
Description	Author affiliation: Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA (Stentz, A.; Hebert, M.)
Abstract	Most autonomous outdoor navigation systems tested on actual robots have centered on local navigation tasks such as avoiding obstacles or following roads. Global navigation has been limited to simple wandering, path tracking, straight-line goal seeking behaviors, or executing a sequence of scripted local behaviors. These capabilities are insufficient for unstructured and unknown environments, where replanning may be needed to account for new information discovered in every sensor image. To address these problems, the authors developed a complete system that integrates local and global navigation. The local system uses a scanning laser rangefinder to detect and avoid obstacles. The global system uses an incremental path planning algorithm to optimally replan the global path for each detected obstacle. A control arbiter steers the robot to achieve the proper balance between safety and goal acquisition. This system was tested on a real robot and successfully drove it 1.4 kilometers to find a goal given no a priori map of the environment.
Starting Page	425
Ending Page	432
File Size	1105301
Page Count	8
File Format	PDF
ISBN	0818671084
DOI	10.1109/IROS.1995.525831
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-08-05
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Robot sensing systems Mobile robots System testing Roads Sensor systems Shape measurement Contracts Image sensors Path planning
Content Type	Text
Resource Type	Article

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