Autonomous land navigation in a structured environment

Conference · Sun Jan 01 04:00:00 EST 1989

OSTI ID:5478030

Klarer, P R

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 and avoidance have not yet been incorporated into the system, a structured environment is postulated that presumes the paths to be traversed are free of obstacles. The system performs path planning and execution based on maps constructed using the vehicle's onboard navigation system and mapmaker. The system software, hardware, and performance data are discussed. 6 refs.

• Research Organization: Sandia National Labs., Albuquerque, NM (USA)
• Sponsoring Organization: DOE/DP
• DOE Contract Number: AC04-76DP00789
• OSTI ID: 5478030
• Report Number(s): SAND-89-0319C; CONF-8911102--1; ON: DE90001625
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420200* -- Engineering-- Facilities
Equipment
& Techniques
99 GENERAL AND MISCELLANEOUS
990220 -- Computers
Computerized Models
& Computer Programs-- (1987-1989)
AUTOMATION
AUTOMOBILES
AVOIDANCE
BEHAVIOR
COMPUTER ARCHITECTURE
COMPUTERIZED CONTROL SYSTEMS
CONTROL SYSTEMS
MAPPING
NAVIGATION
ROBOTS
TRUCKS
VEHICLES