Advertisement

Local Navigation System in Panorama Project

  • F. Vacherand
  • E. Crochon
  • F. Favre-Reguillon
  • M. Bogaert
  • S. Do
  • M. Halbach
Chapter
Part of the Microprocessor-Based and Intelligent Systems Engineering book series (ISCA, volume 9)

Abstract

The PANORAMA Project aims to build a perception and navigation system architecture suitable and efficient for outdoor autonomous mobile robots. The project will demonstrate the capabilities of the system on well identified industrial applications such as forest vehicle for trunks transportation and drilling vehicle for mining exploitation. The system will be able to perform an autonomous navigation mission in an unstructured and partially known outdoor environment. A typical scenario is to run on several types of roads or tracks and move on cross country terrain in a round trip simulating an industrial working mission. The system will have several maps describing the road network and local working areas, some a priori knowledge of the environment including beacons and landmarks, weather, outer conditions and inner characteristics of the vehicule and its sensors.

Keywords

Route Plan Vehicle Position Occupancy Grid Local Path Driving Section 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

references

  1. [1]
    A. Elfes,“Using Occupancy Grids for Mobile Robot Perception and Navigation, IEEE Computer, Vol.22, No.6, June 1989, pp. 46–57.CrossRefGoogle Scholar
  2. [2]
    H.P. Moravec, “Sensor Fusion in Certainty Grids for Mobile Robots”, Sensor Devices and Systems for Robotics, NATO ASI Series, Vol.F-52, Springer-Verlag, 1989, pp. 253–276.Google Scholar
  3. [3]
    R.C. Smith and P. Cheesman, On the Representation and Estimation of Spatial Uncertainty“, The International Journal of Robotics Research, Vol.5, No.4, Winter 1986, pp. 56–68.Google Scholar
  4. [4]
    S. Do, M. Bogaert & M. Halbach, “Consistent position uncertainty management in environment modeling for mobile robots”. Submitted for publication at the 5th Int’l Conf. on Advanced Robotics ICAR June 1991.Google Scholar
  5. [5]
    J. Albus et al., “NASA/NBS Standard Reference Model for Telerobot Control System Architecture (NASREM)”, NBS Technical note 1235, 1987.Google Scholar
  6. [6]
    J. C. Latombe, “ROBOT MOTION PLANNING”, Kluwer Academic Press, 1990.Google Scholar
  7. [7]
    IEEE RA Workshop on “Nonholonomic motion Planning: Theory, Algorithms and Applications” April 7–12 1991 Sacramento, California.Google Scholar
  8. [8]
    S. Wolfram “Universality and Complexity in Cellular Automata” in Physica 10D (1984) pp. 1–35.Google Scholar

Copyright information

© Springer Science+Business Media Dordrecht 1991

Authors and Affiliations

  • F. Vacherand
    • 1
  • E. Crochon
    • 1
  • F. Favre-Reguillon
    • 1
  • M. Bogaert
    • 2
  • S. Do
    • 2
  • M. Halbach
    • 2
  1. 1.CEA/DTA/LETI System DepartmentGrenoble CedexFrance
  2. 2.CRIF Section Automatique et Informatique IndustrielleBruxellesBelgium

Personalised recommendations