The Driving Pipeline: A Driving Control Scheme for Mobile Robots

Abstract

Mobile robot vehicles must control the execution of numerous perception and planning processes to navigate successfully in complex environments. In the past, most mobile robot systems have utilized stop-and-go control schemes that avoid addressing the driving control problem, or have used fixed control scheme that do not allow for the changing environment and field of view of the vehicle. This paper presents a new architecture for mobile robot control called the Driving Pipeline that integrates multiple perception and planning processes and provides continuous motion with adaptive control. The Driving Pipeline has been implemented and tested on numerous versions of two vehicles: the Terregator and the NAVLAB. It has proven to be a flexible and powerful mechanism for building integrated software for mobile robot perception and planning. Keywords: Mobile robot; Perception; Planning: Driving pipeline; Software.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 1988
Accession Number
ADA199666

Entities

People

  • Anthony Stentz
  • Steven Arthur Shafer
  • Yoshimasa Goto

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Materials and Manufacturing Processes
  • Sensors

DTIC Thesaurus Topics

  • Accuracy
  • Autonomous Navigation
  • Classification
  • Computations
  • Control Systems
  • Dead Reckoning
  • Environment
  • Geometry
  • Motion Planning
  • Navigation
  • Parallel Computing
  • Parallel Processing
  • Perception
  • Pipelines
  • Robot Navigation
  • Robots
  • Security

Fields of Study

  • Computer science
  • Engineering

Readers

  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control