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A behavior-based system for off-road navigation

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3 Author(s)
Langer, D. ; Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA ; Rosenblatt, J.K. ; Hebert, M.

We describe a core system for autonomous navigation in outdoor natural terrain. The system consists of three parts: a perception module that processes range images to identify untraversable regions of the terrain, a local map management module that maintains a representation of the environment in the vicinity of the vehicle, and a planning module that issues commands to the vehicle controller. We illustrate our approach by an experiment in which a vehicle travelled autonomously for one kilometer through unmapped cross-country terrain

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Robotics and Automation, IEEE Transactions on  (Volume:10 ,  Issue: 6 )