MONAI: An autonomous navigation system for mobile robots

This paper presents the results of the simulation work concerning the development of a MOdule (for) Navigation (which is) Autonomous and Intelligent (MONAI), made at AEROSPATIALE. Entirely based on vision channels, this system allows to achieve efficiently the navigation and guidance function of a rover, with a very favourable cost/effectiveness ratio. It is first dealt with the general principle of the navigation/guidance architecture, then with the detailed functions regarding landmark update, obstacle detection and motion assessment, with the first results from the simulations run.