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Proceedings Paper

Robust exterior autonomous navigation
Author(s): David W. Parish; Robert D. Grabbe
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Paper Abstract

This paper introduces a proposed approach for robust exterior autonomous navigation, based on the use of redundant, and complimentary position estimation sensors, fused and integrated to provide robust operation. The proposed approach considers constraints due to a combination of theoretical and practical limitations of the sensors performance characteristics, and sensor fusion and integration algorithm limitations. A hypothetical exterior autonomous navigation application is also introduced to illustrate a systems perspective on one class of autonomous navigation, specifically routine autonomous navigation in a known, semi-structured environment. The focus of this paper is primarily on the autonomous vehicles position estimation sensor suite selection, and sensor fusion and integration approach.

Paper Details

Date Published: 1 February 1994
PDF: 12 pages
Proc. SPIE 2058, Mobile Robots VIII, (1 February 1994); doi: 10.1117/12.167504
Show Author Affiliations
David W. Parish, Omnitech Robotics, Inc. (United States)
Robert D. Grabbe, Omnitech Robotics, Inc. (United States)

Published in SPIE Proceedings Vol. 2058:
Mobile Robots VIII
William J. Wolfe; Wendell H. Chun, Editor(s)

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