Path Planning For A Vision-Based Autonomous Robot

The VISIONS research environment at the University of Massachusetts provides an integrated system for the interpretation of visual data. To provide a testbed for many of the algorithms developed within this framework, a mobile robot has been acquired. A multi-level representation and the accompanying architecture used to support multi-sensor navigation (pre-dominantly visual) are described. A hybrid vertex-graph free-space representation (meadow map) based upon the decomposition of free space into convex regions capable for use in both indoor and limited outdoor navigation is discussed. Of particular interest is the capability to handle multiple terrain types. A hierarchical path planner that utilizes the data avail-able in the above representational scheme is described. An overview of the UMASS mobile robot architecture (AuRA) is presented.

[1]  Alexandre M. Parodi.  Multi-goal real-time global path planning for an autonomous land vehicle using a high-speed graph search processor , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[2]  Rodney A. Brooks,et al.  Natural decomposition of free space for path planning , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[3]  Allen R. Hanson,et al.  Experiments in Schema-Driven Interpretation of a Natural Scene , 1981 .

[4]  Jean-Paul Laumond,et al.  Position referencing and consistent world modeling for mobile robots , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[5]  D. Miller,et al.  A spatial representation system for mobile robots , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[6]  Anthony Stentz,et al.  Module Programmer's Guide to Local Map Builder for ALVan , 1986 .

[7]  S. Sitharama Iyengar,et al.  Learned Navigation Paths for a Robot in Unexplored Terrain , 1985, CAIA.

[8]  David M. Keirsey,et al.  Planning Strategic Paths Through Variable Terrain Data , 1984, Other Conferences.

[9]  Saul Amarel,et al.  On representations of problems of reasoning about actions , 1968 .

[10]  Alex Meystel,et al.  Simulation of path planning for a system with vision and map updating , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.