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Intelligent Unmanned Ground Vehicles : Autonomous Navigation Research at Carnegie Mellon :  Autonomous Navigation Research at Carnegie Mellon - Martial Hebert

Intelligent Unmanned Ground Vehicles : Autonomous Navigation Research at Carnegie Mellon

Autonomous Navigation Research at Carnegie Mellon

By: Martial Hebert (Editor), Charles F. Thorpe (Editor), Anthony Stentz (Editor)

Hardcover Published: December 2009
ISBN: 9780792398332
Number Of Pages: 309

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Intelligent Unmanned Ground Vehicles describes the technology developed and the results obtained by the Carnegie Mellon Robotics Institute in the course of the DARPA Unmanned Ground Vehicle (UGV) project. The goal of this work was to equip off-road vehicles with computer-controlled, unmanned driving capabilities. The book describes contributions in the area of mobility for UGVs including: tools for assembling complex autonomous mobility systems; on-road and off-road navigation; sensing techniques; and route planning algorithms. In addition to basic mobility technology, the book covers a number of integrated systems demonstrated in the field in realistic scenarios. The approaches presented in this book can be applied to a wide range of mobile robotics applications, from automated passenger cars to planetary exploration, and construction and agricultural machines. Intelligent Unmanned Ground Vehicles shows the progress that was achieved during this program, from brittle specially-built robots operating under highly constrained conditions, to groups of modified commercial vehicles operating in tough environments. One measure of progress is how much of this technology is being used in other applications. For example, much of the work in road-following, architectures and obstacle detection has been the basis for the Automated Highway Systems (AHS) prototypes currently under development. AHS will lead to commercial prototypes within a few years. The cross-country technology is also being used in the development of planetary rovers with a projected launch date within a few years. The architectural tools built under this program have been used in numerous applications, from an automated harvester to an autonomous excavator. The results reported in this work provide tools for further research development leading to practical, reliable and economical mobile robots.

Introductionp. 1
A Behavior-based Architecture for Mobile Navigationp. 19
SAUSAGES: Between Planning and Actionp. 33
Neural Network Vision for Robot Drivingp. 53
Vision-Based Neural Network Road and Intersection Detectionp. 73
SMARTY: Point-Based Range Processing for Autonomous Drivingp. 87
RANGER: Feedforward Control Approach to Autonomous Navigationp. 105
Sensor Fusion For Autonomous Navigation Using Neural Networksp. 145
Sonar-Based Outdoor Vehicle Navigationp. 159
STRIPE: Low-Bandwidth and High-Latency Teleoperationp. 187
Optimal and Efficient Path Planning for Partially Known Environmentsp. 203
Dynamic Mission Planning for Multiple Mobile Robotsp. 221
Integrating Position Estimation and Perception for Navigationp. 235
An Integrated System for Autonomous Off-Road Navigationp. 259
A Navigation System for Goal Acquisition in Unknown Environmentsp. 277
Table of Contents provided by Blackwell. All Rights Reserved.

ISBN: 9780792398332
ISBN-10: 0792398335
Series: The Springer International Series in Engineering and Computer Science
Audience: General
Format: Hardcover
Language: English
Number Of Pages: 309
Published: December 2009
Publisher: Springer
Country of Publication: NL
Dimensions (cm): 23.5 x 15.5  x 2.54
Weight (kg): 1.39