Accession Number : ADA243523


Title :   A System for Fast Navigation of Autonomous Vehicles


Descriptive Note : Technical rept.,


Corporate Author : CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST


Personal Author(s) : Singh, Sanjiv ; Feng, Dai ; Keller, Paul ; Shaffer, Gary ; Shi, Wen F


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a243523.pdf


Report Date : Sep 1991


Pagination or Media Count : 104


Abstract : This report describes an autonomous mobile robot designed to navigate at high speeds over featureless terrain-- terrain which is not navigable by relying on features that are found on paved roads and highways. To this end we have developed a paradigm that we call position based navigation that relies on explicit vehicle position information from inertial and satellite instruments, to navigate. Specifically we have tackled four main areas--path tracking, which guides the robot vehicle over a pre-specified path; obstacle detection, which is responsible for bringing the vehicle to a stop from high speed when an obstacle is detected; obstacle avoidance, which is responsible for steering the vehicle around detected obstacles so as to rejoin the specific path; and computing architecture, which integrates all the capabilities into one system. We discuss the algorithms and the devices that were implemented on NavLab, a navigation testbed at Carnegie Mellon. The most notable of our results is the 11m/s speed achieved by the vehicle.


Descriptors :   *ALGORITHMS , STEERING , TEST BEDS , HIGH VELOCITY , ROBOTS , PATHS , TRACKING , PAVEMENTS , TERRAIN , NAVIGATION , MOBILE , BARRIERS , ARTIFICIAL SATELLITES , SELF OPERATION , INSTRUMENTATION , ROADS , VEHICLES , INERTIAL SYSTEMS , AVOIDANCE , HIGHWAYS , POSITION(LOCATION)


Subject Categories : Cybernetics
      Surface Transportation and Equipment
      Land and Riverine Navigation and Guidance


Distribution Statement : APPROVED FOR PUBLIC RELEASE