figshare
Browse
file.pdf (1.35 MB)

Stereo Vision Based Navigation for Sun-Synchronous Exploration

Download (1.35 MB)
journal contribution
posted on 2002-01-01, 00:00 authored by Chris P. Urmson, M. Bernardine Dias, Reid G. Simmons
This paper describes the navigation system used on a prototype sun-synchronous robot. Sun-synchrony is a concept that will enable exploration missions by solarpowered rovers that could last months or years. This paper presents navigation algorithms developed for traversing natural terrain robustly. The novel elements of this work are the refinements necessary to transform laboratory-demonstrated technologies into a form useful for robust, sun-synchronous exploration. Results of a field experiment in the Canadian Arctic, where the robot traversed 6.1km, 90% autonomously, are also presented.

History

Publisher Statement

"©2002 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE." "This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder."

Date

2002-01-01

Usage metrics

    Categories

    Keywords

    Robotics

    Licence

    In Copyright

    Exports

    RefWorks
    BibTeX
    Ref. manager
    Endnote
    DataCite
    NLM
    DC