Date of Original Version

10-2002

Type

Conference Proceeding

Abstract or Description

This paper presents a comprehensive navigation system capable of extended coverage operations in semi-structured environments. By semi-structured, we mean pre-mapped terrain that although locally smooth has potentially large changes in elevation and that is generally free of obstacles. The system has three key capabilities: it is able to track specified paths with high accuracy, detect small obstacles reliably, and plan coverage patterns to completely cover a specified area. These technologies have been combined and implemented on a mobile robot, which has accumulated over 90km of autonomous operation to date. Here we report on the components, the architecture, and experimental results.

DOI

10.1109/IRDS.2002.1041479

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Published In

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 1, 743-749.