Ebook: Vision and Navigation: The Carnegie Mellon Navlab
- Tags: Control Robotics Mechatronics, Electrical Engineering
- Series: The Kluwer International Series in Engineering and Computer Science 93
- Year: 1990
- Publisher: Springer US
- Edition: 1
- Language: English
- pdf
Mobile robots are playing an increasingly important role in our world. Remotely operated vehicles are in everyday use for hazardous tasks such as charting and cleaning up hazardous waste spills, construction work of tunnels and high rise buildings, and underwater inspection of oil drilling platforms in the ocean. A whole host of further applications, however, beckons robots capable of autonomous operation without or with very little intervention of human operators. Such robots of the future will explore distant planets, map the ocean floor, study the flow of pollutants and carbon dioxide through our atmosphere and oceans, work in underground mines, and perform other jobs we cannot even imagine; perhaps even drive our cars and walk our dogs. The biggest technical obstacles to building mobile robots are vision and navigation-enabling a robot to see the world around it, to plan and follow a safe path through its environment, and to execute its tasks. At the Carnegie Mellon Robotics Institute, we are studying those problems both in isolation and by building complete systems. Since 1980, we have developed a series of small indoor mobile robots, some experimental, and others for practical applicationr Our outdoor autonomous mobile robot research started in 1984, navigating through the campus sidewalk network using a small outdoor vehicle called the Terregator. In 1985, with the advent of DARPA's Autonomous Land Vehicle Project, we constructed a computer controlled van with onboard sensors and researchers. In the fall of 1987, we began the development of a six-legged Planetary Rover.
Content:
Front Matter....Pages i-xiv
Introduction....Pages 1-7
Color Vision for Road Following....Pages 9-24
Explicit Models for Robot Road Following....Pages 25-38
An Approach to Knowledge-Based Interpretation of Outdoor Natural Color Road Scenes....Pages 39-81
Neural Network Based Autonomous Navigation....Pages 83-93
Car Recognition for the CMU Navlab....Pages 95-115
Building and Navigating Maps of Road Scenes Using Active Range and Reflectance Data....Pages 117-129
3-D Vision Techniques for Autonomous Vehicles....Pages 131-186
The CODGER System for Mobile Robot Navigation....Pages 187-201
The Driving Pipeline: A Driving Control Scheme for Mobile Robots....Pages 203-230
Multi-Resolution Constraint Modeling for Mobile Robot Planning....Pages 231-257
NAVLAB An Autonomous Navigation Testbed....Pages 259-282
Vehicle and Path Models for Autonomous Navigation....Pages 283-307
The Warp Machine on Navlab....Pages 309-347
Outdoor Visual Navigation for Autonomous Robots....Pages 349-367
Back Matter....Pages 369-370
Content:
Front Matter....Pages i-xiv
Introduction....Pages 1-7
Color Vision for Road Following....Pages 9-24
Explicit Models for Robot Road Following....Pages 25-38
An Approach to Knowledge-Based Interpretation of Outdoor Natural Color Road Scenes....Pages 39-81
Neural Network Based Autonomous Navigation....Pages 83-93
Car Recognition for the CMU Navlab....Pages 95-115
Building and Navigating Maps of Road Scenes Using Active Range and Reflectance Data....Pages 117-129
3-D Vision Techniques for Autonomous Vehicles....Pages 131-186
The CODGER System for Mobile Robot Navigation....Pages 187-201
The Driving Pipeline: A Driving Control Scheme for Mobile Robots....Pages 203-230
Multi-Resolution Constraint Modeling for Mobile Robot Planning....Pages 231-257
NAVLAB An Autonomous Navigation Testbed....Pages 259-282
Vehicle and Path Models for Autonomous Navigation....Pages 283-307
The Warp Machine on Navlab....Pages 309-347
Outdoor Visual Navigation for Autonomous Robots....Pages 349-367
Back Matter....Pages 369-370
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