Reactive navigation in outdoor environments using potential fields
Haddad, H.
Khatib, M.
Lacroix, S.
Chatila, R.
Lab. d'Autom. et d'Anal. des Syst., CNRS, Toulouse ;
This paper appears in: Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Publication Date: 16-20 May 1998
Volume: 2,
On page(s): 1232-1237 vol.2
Meeting Date: 05/16/1998 - 05/20/1998
Location: Leuven, Belgium
ISBN: 0-7803-4300-X
References Cited: 9
INSPEC Accession Number: 5966124
Digital Object Identifier: 10.1109/ROBOT.1998.677268
Current Version Published: 2002-08-06
Abstract
The paper presents an approach to reactive navigation in
cross-country terrains. The approach relies on a particular
probabilistic obstacle detection procedure, that describes the area
perceived by a pair of stereo cameras as a set of polygonal cells. To
generate the motion commands on the basis of this terrain description,
we present some improvements and adaptations to the classical potential
fields technique. Results on real stereo data illustrate our
contribution throughout the paper, and simulated long range traverses
are discussed
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