Autonomous land navigation in a structured environment

Journal Article · Wed Feb 28 23:00:00 EST 1990 · IEEE Aerospace and Electronic Systems Magazine; (USA)

DOI:https://doi.org/10.1109/62.56503· OSTI ID:6716448

Klarer, P R ^[1]

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1. Sandia National Lab., Advanced Technology Div., Albuquerque, NM (US)

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 on board navigation system and map-maker. The system software, hardware and performance data are discussed.

• DOE Contract Number: AC04-76DP00789
• OSTI ID: 6716448
• Journal Information: IEEE Aerospace and Electronic Systems Magazine; (USA), Journal Name: IEEE Aerospace and Electronic Systems Magazine; (USA) Vol. 5:3; ISSN 0885-8985; ISSN IAEME
• Country of Publication: United States
• Language: English

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47 OTHER INSTRUMENTATION
99 GENERAL AND MISCELLANEOUS
990200 -- Mathematics & Computers
AUTOMATION
COMPUTER CODES
LAND TRANSPORT
NATIONAL ORGANIZATIONS
NAVIGATION
NAVIGATIONAL INSTRUMENTS
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PLANNING
SANDIA LABORATORIES
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US AEC
US DOE
US ERDA
US ORGANIZATIONS
VEHICLES