Autonomous land navigation: A demonstration of retrotraverse
This paper describes a hardware and software system developed to perform autonomous navigation of a land vehicle in a structured environment. The vehicle used for development and testing of the system was the Jeep Cherokee Mobile Robotics Testbed Vehicle developed at Sandia National Laboratories in Albuquerque. Since obstacle detection/avoidance has not yet been incorporated into the system, a structured environment is postulated that presumes the paths to be traversed are obstacle-free. The system performs path planning and execution (following) based on maps constructed using the vehicle's navigation system and onboard map-maker. The system configuration allows a map to be generated and stored during teleoperation of the vehicle, which may then be inverted and autonomously followed to perform ''retrotraverse'' back to the path start point. The system software, hardware, and performance data are discussed. 9 refs.
- Research Organization:
- Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
- DOE Contract Number:
- AC04-76DP00789
- OSTI ID:
- 6092236
- Report Number(s):
- SAND-89-0393C; CONF-890783-1; ON: DE89011881
- Resource Relation:
- Conference: 16. AUVS annual technical symposium and exhibit, Washington, DC, USA, 17 Jul 1989; Other Information: Portions of this document are illegible in microfiche products
- Country of Publication:
- United States
- Language:
- English
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