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Autonomous navigation in natural environments

  • Section 8 Mobile Robots
  • Conference paper
  • First Online:
Experimental Robotics III

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 200))

Abstract

This paper presents the approach, algorithms and processes we developed to perform autonomous navigation in a natural environment. After a description of the global approach, we discuss the characteristics of natural environment representations. Then the perception functions for terrain mapping and robot localization, as well as motion planning are described. Navigation strategies for selecting perception tasks and subgoals for motion planning are proposed. The current state of integration in the experimental test bed EDEN is finally presented. Results from this experiment illustrate the approach troughout the paper.

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Author information

Authors and Affiliations

  1. LAAS-CNRS, 7, avenue du Colonel-Roche, 31077, Toulouse Cedex, France

    Raja Chatila, Sara Fleury, Matthieu Herrb, Simon Lacroix & Christophe Proust

Authors
  1. Raja Chatila
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  2. Sara Fleury
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  3. Matthieu Herrb
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  4. Simon Lacroix
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  5. Christophe Proust
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Editor information

Tsuneo Yoshikawa (PhD)Fumio Miyazaki (PhD)

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© 1994 Springer-Verlag London Limited

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Chatila, R., Fleury, S., Herrb, M., Lacroix, S., Proust, C. (1994). Autonomous navigation in natural environments. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027612

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  • DOI: https://doi.org/10.1007/BFb0027612

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19905-2

  • Online ISBN: 978-3-540-39355-9

  • eBook Packages: Springer Book Archive

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