Local Perception for Mobile Robot Navigation in Natural Terrain: Two Approaches
نویسنده
چکیده
slgni/lran~ leap from ~ U l i n g cornpvler vision and mobile r o b lechnology Lmonrtrcued in t h ~aboratO?y. In I& paper, we campare two erampl~r of such perception QSIwhich have k e n &mon.rtrated in long-dwarion missionr in open terrain. The IWO exampies are in h e C O ~ U U ~ ofvery dflenni vehicles Md mirsionr; m e a / o w w k e l vehicle IIavellhg a &rate s p e d . ;he uhu one is a legged machine travelling slow speed. As a result, t k hvo system YTC radically differem apprapcha IO the &sign of the perception system. ThrfirS ON m ~ i r r r o i ~ a shpk binrvy map of ihe terravt, while the second ON generates high-rtsduion mops Mihe terrain. In this paper. we compare Md evaluate t k two approaches and we d y z e how vehicle Mdmirsion consraints w m t a k n INO a c c o w in the design of the perearion system. Finally, we mvesrrgate ways in which t h WO q p r a c h a can br combined to maxunize the effectiveness of the p m e p t i m systun.
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تاریخ انتشار 1993