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Fast cross-country navigation on fair terrains

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2 Author(s)
Pagnot, R. ; CNES, Toulouse, France ; Grandjean, P.

The cross-country navigation approach presented in this paper relies on two simplification ideas: obstacles are defected by scanning columns of a range image and motion steps are single straight-line trajectories. The resulting system is fast and only prohibits steep slopes or cluttered terrains. It also features a sophisticated planning criterion that yields good global performances. Its reliability has been demonstrated by successful outdoor traverses 70 meters long on a representative test site

Published in:

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on  (Volume:3 )

Date of Conference:

21-27 May 1995