Global map building and look-ahead implementation on an outdoor autonomous vehicle

Proceedings of SPIE - The International Society for Optical Engineering

Volumn 4573, Issue , 2001, Pages 156-167

  Kedrowski, Philip R ^a   Conner, David C ^a   Reinholtz, Charles F ^a  

^a State University   (United States)

Author keywords

Autonomous; Global mapping; Look ahead; Mapping; Vector Field Histogram (VFH); Vehicle

Indexed keywords

ALGORITHMS; COLLISION AVOIDANCE; COMPUTER SIMULATION; GLOBAL POSITIONING SYSTEM; NAVIGATION; REMOTELY OPERATED VEHICLES; ROBOT APPLICATIONS;

VECTOR FIELD HISTOGRAMS (VFH);

MOBILE ROBOTS;

EID: 0035763958     PISSN: 0277786X     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1117/12.457440     Document Type: Conference Paper

References (9)

1. D.C. Conner, Sensor Fusion, Navigation, and Control of Autonomous Vehicles, Masters Thesis, Virginia Polytechnic Institute and State University, July 2000.
2. D.C. Conner, P.R. Kedrowski, and C.F. Reinholtz, "Multiple camera, laser rangefinder, and encoder data fusion for navigation of a differentially steered 3-wheeled autonomous vehicle," Mobile Robots XV, SPIE, 2000.
3. Borenstein, J., Koren, Y., "Histogramic In-Motion Mapping for Mobile Robot Obstacle Avoidance," IEEE Transactions on Robotics and Automation, August 1991, pp. 535-539.
4. Stentz, A., "The Focused D* Algorithm for Real-Time Replanning," International Joint Conference on Artificial Intelligence, August, 1995b.
5. Ulrich, I., Borenstein, J., "VFH*: Local Obstacle Avoidance with Look Ahead Verification," IEEE International Conference on Robotics and Automation, San Francisco, CA, April 8, 2000, pp. 2505-2511.
6. IGVC. 2000. 〈http://www.secs.oakland.edu/SECS_prof_orgs/PROF_AUVSI/idex.html〉.
7. D.C. Conner, P.R. Kedrowski, C.F. Reinholtz, and J.S. Bay, "Improved dead-reckoning using caster wheel sensing on a differentially steered 3-wheeled autonomous vehicle," Mobile Robots XV, SPIE, 2000.
8. P.R. Kedrowski, C.F. Reinholtz, and D.C. Conner, "Optimized parametric calibration of autonomous vehicles," to be published in Mobile Robots XVL, SPIE, 2001.
9. P.R. Kedrowski, Development and Implementation of a Self-building Global Map for Autonomous Navigation, Masters Thesis, Virginia Polytechnic Institute and State University, July 2000.