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Proceedings Paper

Knowledge Acquisition For Autonomous Navigation
Author(s): Francis B. Hoogterp; Steven A. Caito
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Paper Abstract

The design of a robotic vehicle requires a unique knowledge of the world in which the vehicle is to operate. This paper investigates the potential of a knowledge acquisition system for such a vehicle, based on a scanning laser radar sensor system that can provide 3-D surface descriptions of the surveyed terrain simultaneously with an active reflectance image of the scene. The advantages and disadvantages of this sensor are explored along with algorithms for efficiently extracting the type of knowledge required to control a robotic vehicle. Specifically the output of this knowledge acquisition system must consist of the location and extent of the road, the presence, size and location of any obstacles, and the location of road intersections, all in real time. Based on this knowledge of the scene, a desired local path can be planned for the robotic vehicle.

Paper Details

Date Published: 26 March 1986
PDF: 7 pages
Proc. SPIE 0635, Applications of Artificial Intelligence III, (26 March 1986); doi: 10.1117/12.964170
Show Author Affiliations
Francis B. Hoogterp, US Army Tank-Automotive Command (United States)
Steven A. Caito, US Army Tank-Automotive Command (United States)

Published in SPIE Proceedings Vol. 0635:
Applications of Artificial Intelligence III
John F. Gilmore, Editor(s)

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