Abstract/Details

System architectures and environment modeling for high-speed autonomous navigation


2006 2006

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Abstract (summary)

Successful high-speed autonomous navigation requires integration of tools from robotics, control theory, computer vision, and systems engineering. This thesis presents work that develops and combines these tools in the context of navigating desert terrain.

A comparative analysis of reactive, behavior-based, and deliberative control architectures provides important guidelines for design of robotic systems. These guidelines depend on the particular task and environment of the vehicle. Two important factors are identified which guide an effective choice between these architectures: dynamic feasibility for the vehicle, and predictability of the environment. This is demonstrated by parallels to control theory, illustrative examples, simulations, and analysis of Bob and Alice---Caltech's full-scale autonomous ground vehicle entries in the 2004 and 2005 Grand Challenge races, respectively.

Further, new model-based methods are developed for constructing and maintaining estimates of terrain elevation and road geometry. These are demonstrated in simulation and in fully autonomous operation of Alice, including accurate detection and tracking of the centerline of desert roads at speeds up to 5 m/s. Finally, Alice's navigation architecture is presented in full along with experimental results that demonstrate its capabilities.

Indexing (details)


Subject
Mechanical engineering;
Robots;
Artificial intelligence
Classification
0548: Mechanical engineering
0771: Robots
0800: Artificial intelligence
Identifier / keyword
Applied sciences; Autonomous navigation; High-speed; System architectures; Unmanned ground vehicle
Title
System architectures and environment modeling for high-speed autonomous navigation
Author
Cremean, Lars B.
Number of pages
108
Publication year
2006
Degree date
2006
School code
0037
Source
DAI-B 67/10, Dissertation Abstracts International
Place of publication
Ann Arbor
Country of publication
United States
ISBN
9780542904271
Advisor
Murray, Richard M.
University/institution
California Institute of Technology
University location
United States -- California
Degree
Ph.D.
Source type
Dissertations & Theses
Language
English
Document type
Dissertation/Thesis
Dissertation/thesis number
3236221
ProQuest document ID
305352950
Copyright
Database copyright ProQuest LLC; ProQuest does not claim copyright in the individual underlying works.
Document URL
http://search.proquest.com/docview/305352950
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