Autonomous Navigation for Mobile Robot Vehicles Over Hilly Terrain Using Rangefinding Measurements.
Final technical rept.,
ARMY ARMAMENT RESEARCH AND DEVELOPMENT CENTER WATERVLIET NY LARGE CALIBER WEAPON SYSTEMS LAB
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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.
- Lasers and Masers
- Surface Transportation and Equipment