Reactive navigation in outdoor environments using potential fields

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.

[1]  Oussama Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Autonomous Robot Vehicles.

[2]  Takeo Kanade,et al.  High-Resolution Terrain Map from Multiple Sensor Data , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[3]  Jerzy Z. Sasiadek,et al.  Path tracking, obstacle avoidance and position estimation by an autonomous, wheeled planetary rover , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[4]  Martial Hebert Pixel-based range processing for autonomous driving , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[5]  Martial Hebert,et al.  A behavior-based system for off-road navigation , 1994, IEEE Trans. Robotics Autom..

[6]  Thierry Siméon,et al.  Planetary exploration by a mobile robot: Mission teleprogramming and autonomous navigation , 1995, Auton. Robots.

[7]  Alonzo Kelly,et al.  Obstacle detection for unmanned ground vehicles: a progress report , 1995 .

[8]  Maher Khatib,et al.  Sensor-Based Motion Control for Mobile Robots , 1996 .