A generic framework for robotic navigation
- 22 June 2004
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 5, 5_2463-5_2470
- https://doi.org/10.1109/aero.2003.1235171
Abstract
This paper describes progress in the development of a navigation framework for the Coupled- Layer Architecture for Robotic Autonomy (CLARAty). As part of CLARAty, the framework shares the goals of enabling code reuse while maintaining efficiency and accessibility. The framework is roughly divided into generic components along sense-think-act lines. A discussion of the role and structure of each component is presented. An illustrative example is presented of an implementation of a Morphin/D*-based navigation algorithm using this framework. Early results from experimentation in simulation are also presented.Keywords
This publication has 10 references indexed in Scilit:
- Stereo vision based navigation for Sun-synchronous explorationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Stereo vision and rover navigation software for planetary explorationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- An autonomous sensor-based path-planner for planetary microroversPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Optimal and efficient path planning for partially-known environmentsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Experience with rover navigation for lunar-like terrainsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- The CLARAty architecture for robotic autonomyPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Recent progress in local and global traversability for planetary roversPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Safe navigation on hazardous terrainPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2001
- Developing Nomad for robotic exploration of the Atacama DesertRobotics and Autonomous Systems, 1999
- Rough Terrain Autonomous Mobility—Part 2: An Active Vision, Predictive Control ApproachAutonomous Robots, 1998