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Proceedings Paper

Autonomous navigation in a dynamic environment
Author(s): Henry C. Davies; Ali E. Kayaalp; Saied Moezzi
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Paper Abstract

Navigation of a mobile robot in the presence of dynamic obstacles requires fast data collection routemonitoring and route replanning. A method for route replanning in the presence of dynamic obstacles and an extendible autonomous vehicle navigation architecture based on this method is presented. At the center of our architecture is the Dynamic World Modeling subsystem which maintains an internal representation of the environment. It continuously assimilates time-varying stereo-based range data to build an accurate model of the world. The primary user of this information the Navigator subsystem plans a path for the vehicle to follow and insures that this path remains valid by computing detours when environmental changes block the planned path. A preliminary version of our autonomous navigation system utilizing a near real-time stereo range detection module is operational in our laboratory. It is used to navigate a Denning MIRV-2 mobile platform and executes in a distributed fashion on a network of Sun workstations.

Paper Details

Date Published: 1 March 1991
PDF: 11 pages
Proc. SPIE 1388, Mobile Robots V, (1 March 1991); doi: 10.1117/12.25465
Show Author Affiliations
Henry C. Davies, General Dynamics Corp. (United States)
Ali E. Kayaalp, General Dynamics Corp. (United States)
Saied Moezzi, General Dynamics Corp. (United States)

Published in SPIE Proceedings Vol. 1388:
Mobile Robots V
Wendell H. Chun; William J. Wolfe, Editor(s)

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