Paper Info
Title
A multirange architecture for collision-free off-road robot navigation
Abstract
We present a multilayered mapping, planning, and command execution system developed and tested on the LAGR mobile robot. Key to robust performance under uncertainty is the combination of a short-range perception system operating at high frame rate and low resolution and a long-range, adaptive vision system operating at lower frame rate and higher resolution. The short-range module performs local planning and obstacle avoidance with fast reaction times, whereas the long-range module performs strategic visual planning. Probabilistic traversability labels provided by the perception modules are combined and accumulated into a robot-centered hyperbolic-polar map with a 200-m effective range. Instead of using a dynamical model of the robot for short-range planning, the system uses a large lookup table of physically possible trajectory segments recorded on the robot in a wide variety of driving conditions. Localization is performed using a combination of global positioning system, wheel odometry, inertial measurement unit, and a high-speed, low-complexity rotational visual odometry module. The end-to-end system was developed and tested on the LAGR mobile robot and was verified in independent government tests. © 2008 Wiley Periodicals, Inc.
Year
DOI
Venue
2009
10.1002/rob.v26:1
J. Field Robotics
Field
DocType
Volume
Obstacle avoidance,Robot control,Computer vision,Machine vision,Visual odometry,Simulation,Odometry,Artificial intelligence,Engineering,Mobile robot navigation,Robot,Mobile robot
Journal
26
Issue
ISSN
Citations 
1
1556-4959
4
PageRank 
References 
Authors
1.36
25
9
Name
Order
Citations
PageRank
Pierre Sermanet11788185.17
R. Hadsell21678100.80
Marco Scoffier3729.31
Matthew Grimes441.36
Jan Ben511520.89
ayse erkan610512.75
Chris Crudele741.36
Urs Miller841.36
Yann LeCun9260903771.21