Autonomous Navigation for Mobile Robot Vehicles Over Hilly Terrain Using Rangefinding Measurements.

Abstract

The mobile robot vehicle is equipped with data acquisition and decision making devices for its autonomous navigation over rough terrain. A laser rangefinder is chosen as principal sensing device, which can determine radial distances from the vehicle to points of unpredictable hilly terrain surfaces. The overall procedure conducted for such a design consists of the following interrelated subsystems such as scanning scheme, obstacle detection scheme, terrain slope estimation, and path selection algorithm. Stochastic processes and methods are employed throughout the analysis.

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Document Details

Document Type
Technical Report
Publication Date
Oct 01, 1984
Accession Number
ADA148787

Entities

People

  • C. N. Shen

Organizations

  • United States Army Armament Research, Development and Engineering Center

Tags

Communities of Interest

  • Autonomy
  • Weapons Technologies

DTIC Thesaurus Topics

  • Acquisition
  • Algorithms
  • Artificial Intelligence
  • Autonomous Navigation
  • Change Detection
  • Coordinate Systems
  • Data Acquisition
  • Dynamic Programming
  • Laser Rangefinding
  • Measurement
  • Military Research
  • Range Finders
  • Simulations
  • Standards
  • Test And Evaluation
  • Two Dimensional
  • Vector Spaces

Readers

  • Geodesy
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy
  • Directed Energy