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Experimental Robotics IV pp 538–547Cite as

Motion and perception strategies for outdoor mobile robot navigation in unknown environments

  • Chapter 12 Autonomous Robots
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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 223))

Abstract

This paper presents an experimented approach to autonomous robot navigation in an unknown natural environment. The approach involves several levels of reasoning, several environment representations, and three different motion modes. We focus on the “navigation level” of the whole system, which is in charge of reaching a distant goal by selecting sub-goals to reach, motion modes to apply, and perception tasks to execute for this purpose. We present how a terrain model dedicated to the navigation process is built on the 3D data acquired by the robot, and we describe an approach to tackle the difficult problem of planning perception and motion tasks. Experimental results on a realistic test site are presented and discussed.

Currently on a post-doc funded by INRIA at the Centre for Intelligent Machines, McGill University, Montréal (simon@cim.mcgill.ca)

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Authors and Affiliations

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

    Simon Lacroix & Raja Chatila

Authors
  1. Simon Lacroix
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  2. Raja Chatila
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Editor information

Oussama Khatib J. Kenneth Salisbury

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© 1997 Springer-Verlag London Limited

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Lacroix, S., Chatila, R. (1997). Motion and perception strategies for outdoor mobile robot navigation in unknown environments. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035243

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  • DOI: https://doi.org/10.1007/BFb0035243

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76133-4

  • Online ISBN: 978-3-540-40942-7

  • eBook Packages: Springer Book Archive

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