| Volume 21 Issue 10 - Publication Date: 1 October 2002 |
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| Special issue on International
Symposia on Experimental Robotics 2000 |
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| Autonomous Rover Navigation on
Unknown Terrains : Functions and Integration |
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| Simon Lacroix, Anthony
Mallet, David Bonnafous, Gérard Bauzil, Sara
Fleury, Matthieu Herrb and Raja Chatila LAAS/CNRS,
7, av. du Colonel Roche, F-31077 Toulouse Cedex 4, France |
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| Autonomous long-range navigation
in partially known planetary-like terrains is still an open challenge for
robotics. Navigating hundreds of meters without any human intervention requires
the robot to be able to build various representations of its environment,
to plan and execute trajectories according to the kind of terrain traversed,
to control its motions and to localize itself as it moves. All these activities
have to be scheduled, triggered, controlled and interrupted according to
the rover context. In this paper, we briefly review some functionalities
that have been developed in our laboratory, and implemented on board the
Marsokhod model robot, Lama. We then present how the various concurrent
instances of the perception, localization and motion generation functionalities
are integrated. Experimental results illustrate the functionalities throughout
the paper. |
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Extension |
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Example
One: Autonomous navigation in natural environments. (10.7 MB) |
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