Autonomous coverage operations in semi-structured outdoor environments

被引：0
|
作者：
Batavia, PH [1 ]
Roth, SA [1 ]
Singh, S [1 ]
机构：
[1] Carnegie Mellon Univ, Inst Robot, Pittsburgh, PA 15213 USA
来源：
2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS | 2002年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a comprehensive navigation system capable of extended coverage operations in semi-structured environments. By semi-structured, we mean pre-mapped terrain that although locally smooth has potentially large changes in elevation and that is generally free of obstacles. The system has three key capabilities -- it is able to track specified paths with high accuracy, detect small obstacles reliably, and plan coverage patterns to completely cover a specified area. These technologies have been combined and implemented on a mobile robot, which has accumulated over 90km of autonomous operation to date. Here we report on the components, the architecture, and experimental results.
引用
收藏
页码：743 / 749
页数：7
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