Abstract
A cross-country rover cannot rely in general on permanent and immediate communications with a control station. This precludes direct teleoparation of its motions. It has therefore to be endowed with a large autonomy in achieving its navigation. We have designed and experimented with the mobile robot ADAM a complete system for autonomous navigation in a natural unstructured environment. We describe this work in this paper. The approach is primarly based on the adaptation of the perception and motion actions to the environment and to the status of the robot. The navigation task involves several levels of reasoning, several environment representations, and several action modes. The robot is able to select sub-goals, navigation modes, complex trajectories and perception actions according to the situation.
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© 1998 Springer-Verlag London Limited
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Chatila, R., Lacroix, S., Devey, M., Siméon, T. (1998). Autonomous outdoor mobile robot navigation the EDEN project. In: de Almeida, A.T., Khatib, O. (eds) Autonomous Robotic Systems. Lecture Notes in Control and Information Sciences, vol 236. Springer, London. https://doi.org/10.1007/BFb0030797
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DOI: https://doi.org/10.1007/BFb0030797
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