Accession Number:

ADA148787

Title:

Autonomous Navigation for Mobile Robot Vehicles Over Hilly Terrain Using Rangefinding Measurements.

Descriptive Note:

Final technical rept.,

Corporate Author:

ARMY ARMAMENT RESEARCH AND DEVELOPMENT CENTER WATERVLIET NY LARGE CALIBER WEAPON SYSTEMS LAB

Personal Author(s):

Report Date:

1984-10-01

Pagination or Media Count:

38.0

Abstract:

The mobile robot vehicle is equipped with data acquisition and decision making devices for its autonomous navigation over rough terrain. A laser rangefinder is chosen as principal sensing device, which can determine radial distances from the vehicle to points of unpredictable hilly terrain surfaces. The overall procedure conducted for such a design consists of the following interrelated subsystems such as scanning scheme, obstacle detection scheme, terrain slope estimation, and path selection algorithm. Stochastic processes and methods are employed throughout the analysis.

Subject Categories:

  • Lasers and Masers
  • Surface Transportation and Equipment
  • Bionics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE