25 February 1987 Path Planning For A Vision-Based Autonomous Robot
Author Affiliations +
Proceedings Volume 0727, Mobile Robots I; (1987) https://doi.org/10.1117/12.937802
Event: Cambridge Symposium_Intelligent Robotics Systems, 1986, Cambridge, MA, United States
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.
© (1987) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Ronald C. Arkin, Ronald C. Arkin, } "Path Planning For A Vision-Based Autonomous Robot", Proc. SPIE 0727, Mobile Robots I, (25 February 1987); doi: 10.1117/12.937802; https://doi.org/10.1117/12.937802


High-speed sensor-based systems for mobile robotics
Proceedings of SPIE (March 31 1991)
Parametric mapping
Proceedings of SPIE (January 24 1998)
Parallel Navigation Algorithms For An Autonomous Mobile Robot
Proceedings of SPIE (February 24 1987)
Robot path planning using Voronoi classifiers
Proceedings of SPIE (May 26 2005)

Back to Top