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Intelligent Unmanned Ground Vehicles

Autonomous Navigation Research at Carnegie Mellon

  • Book
  • © 1997

Overview

Editors:
  1. Martial H. Hebert

    1. Carnegie Mellon University, USA

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  2. Charles Thorpe

    1. Carnegie Mellon University, USA

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    You can also search for this editor in PubMed   Google Scholar

  3. Anthony Stentz

    1. Carnegie Mellon University, USA

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Part of the book series: The Springer International Series in Engineering and Computer Science (SECS, volume 388)

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Table of contents (15 chapters)

  1. Front Matter

    Pages i-xii
    Download chapter PDF

  2. Introduction

    • Martial Hebert, Charles E. Thorpe, Anthony Stentz
    Pages 1-17

  3. A Behavior-based Architecture for Mobile Navigation

    • Julio K. Rosenblatt, Charles E. Thorpe
    Pages 19-32

  4. SAUSAGES: Between Planning and Action

    • Jay Gowdy
    Pages 33-52

  5. Neural Network Vision for Robot Driving

    • Dean Pomerleau
    Pages 53-72

  6. Vision-Based Neural Network Road and Intersection Detection

    • Todd Jochem, Dean Pomerleau
    Pages 73-86

  7. SMARTY: Point-Based Range Processing for Autonomous Driving

    • Martial Hebert
    Pages 87-103

  8. RANGER: Feedforward Control Approach to Autonomous Navigation

    • Alonzo Kelly
    Pages 105-144

  9. Sensor Fusion For Autonomous Navigation Using Neural Networks

    • Ian Lane Davis, Anthony Stentz
    Pages 145-157

  10. Sonar-Based Outdoor Vehicle Navigation

    • Dirk Langer, Charles E. Thorpe
    Pages 159-185

  11. STRIPE: Low-Bandwidth and High-Latency Teleoperation

    • Jennifer Kay, Charles E. Thorpe
    Pages 187-202

  12. Optimal and Efficient Path Planning for Partially Known Environments

    • Anthony Stentz
    Pages 203-220

  13. Dynamic Mission Planning for Multiple Mobile Robots

    • Barry Brumitt, Anthony Stentz
    Pages 221-234

  14. Integrating Position Estimation and Perception for Navigation

    • Charles E. Thorpe, Omead Amidi, Jay Gowdy, Martial Hebert, Dean Pomerleau
    Pages 235-257

  15. An Integrated System for Autonomous Off-Road Navigation

    • Dirk Langer, Julio K. Rosenblatt, Martial Hebert
    Pages 259-275

  16. A Navigation System for Goal Acquisition in Unknown Environments

    • Anthony Stentz, Martial Hebert
    Pages 277-306

  17. Back Matter

    Pages 307-309
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Keywords

About this book

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.

Editors and Affiliations

  • Carnegie Mellon University, USA

    Martial H. Hebert, Charles Thorpe, Anthony Stentz

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