The Autonomous Land Vehicle (ALV) must be able to navigate over a wide variety of terrain, using its visual sensors to recognize objects and correct its path. It can rely on three important resources for information about its environment: a time-of-flight range sensor, an inertial guidance system that provides accurate dead-reckoning information, and a knowledge base that specifies the locations, shapes, and appearances of objects in the world. This paper addresses the problems in integrating these resources into a closed-loop control system that can adaptively correct the ALV's route through the environment.

Date Published: 25 February 1987
PDF: 9 pages
Proc. SPIE 0727, Mobile Robots I, (25 February 1987); doi: 10.1117/12.937793

Published in SPIE Proceedings Vol. 0727:
Mobile Robots I
Nelson Marquina; William J. Wolfe, Editor(s)