INTELLIGENT UNMANNED GROUND VEHICLES Autonomous Navigation Research at Carnegie Mellon

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1 INTELLIGENT UNMANNED GROUND VEHICLES Autonomous Navigation Research at Carnegie Mellon

2 THE KLUWER INTERNATIONAL SERIES IN ENGINEERING AND COMPUTER SCIENCE ROBOTICS: VISION, MANIPULATION AND SENSORS Consulting Editor Takeo Kanade Other books in the series: INTERLEAVING PLANNING AND EXECUTION FOR AUTONOMOUS ROBOTS lllah Reza Nourbakhsh ISBN: GENETIC LEARNING FOR ADAPTIVE IMAGE SEGMENTATION Bir Bhanu, Sungkee Lee ISBN: SPACE-SCALE THEORY IN EARLY VISION Tony Lindeberg ISBN NEURAL NETWORK PERCEPTION FOR MOBILE ROBOT GUIDANCE Dean A. Pomerleau ISBN: DIRECTED SONAR SENSING FOR MOBILE ROBOT NAVIGATION John J. Leonard, Hugh F. Durrant-Whyte ISBN: A GENERAL MODEL OF LEGGED LOCOMOTION ON NATURAL TERRAINE David J.Manko ISBN: INTELLIGENT ROBOTIC SYSTEMS: THEORY, DESIGN AND APPLICATIONS K. Valavanis, G. Saridis ISBN: QUALITATIVE MOTION UNDERSTANDING W. Burger, B. Bhanu ISBN: NONHOLONOMIC MOTION PLANNING Zexiang Li, J.F. Canny ISBN: SPACE ROBOTICS: DYNAMICS AND CONTROL Yang sheng Xu, Takeo Kanade ISBN: NEURAL NETWORKS IN ROBOTICS George Bekey, Ken Goldberg ISBN: X EFFICIENT DYNAMIC SIMULATION OF ROBOTIC MECHANISMS Kathryn W. Lilly ISBN: MEASUREMENT OF IMAGE VELOCITY David J. Fleet ISBN:

3 INTELLIGENT UNMANNED GROUND VEHICLES Autonomous Navigation Research at Carnegie Mellon edited by Martial H. Hebert Charles Thorpe Anthony Stentz Carnegie Mellon University ~. " SPRINGER SCIENCE+BUSINESS MEDIA, LLC

4 Library of Congress Cataloging-in-Publication Data A C.I.P. Catalogue record for this book is available from the Library of Congress. ISBN ISBN (ebook) DOI / Springer Science+Business Media New York Originally published by Kluwer Academic Publishers, New York in 1997 Softcover reprint of the hardcover 1 st edition 1997 AlI rights reserved. No part of this publication may be reproduced, stored in a retrieval system or transmitted in any form or by any means, mechanical, photo-copying, recording, or otherwise, without the prior written permission of the publisher, Springer Science+Business Media, LLC. Printed on acid-free pa per.

5 CONTRIBUTING AUTHORS M. Hebert C.E. Thorpe A. Stentz J.K. Rosenblatt J. Gowdy D. Pomerleau T. Jochem A. Kelly I.L. Davis D. Langer J. Kay B. Brummitt O. Amidi CARNEGIE MELLON UNIVERSITY 5000 FORBES A VENUE PITTSBURGH, PA 15213

6 Contents 1 Introduction... 1 Martial Hebert, Charles E. Thorpe, and Anthony Stentz 1.1 Overview The HMMWV Testbed Key Software Components Integrated Systems Acknowledgments A Behavior-based Architecture for Mobile Navigation Julio K. Rosenblatt and Charles E. Thorpe 2.1 Introduction The Distributed Architecture for Mobile i~avigation Command Arbitration Behaviors Evolutionary Development and Integration Extensions Conclusion... 30

7 INTELLIGENT UNMANNED GROUND VEHICLES 3 SAUSAGES: Between Planning and Action Jay Gowdy 3.1 Introduction The road to SAUSAGES Description of SAUSAGES Implementation of SAUSAGES SAUSAGES and Annotated Maps SAUSAGES and planners Conclusions Neural Network Vision for Robot Driving Dean Pomerleau 4.1 Introduction Network Architecture Network Training Performance Improvement Using Transformations Results and Comparison Discussion Vision-Based Neural Network Road and Intersection Detection Todd Jochem and Dean Pomerleau 5.1 Introduction The virtual camera Detection philosophy Other systems Experimental results Conclusions and future work... 85

8 CONTENTS 6 SMARTY: Point-Based Range Processing for Autonomous Driving Martial Hebert 6.1 Introduction Range Date Acquisition Updating Cell State Local Map and Arc Generation Maintaining Transformations and Scrolling Performance RANGER: Feedforward Control Approach to Autonomous Navigation Alonzo Kelly 7.1 Introduction Differences from Previous Systems Analytical Basis of the Concept Hierarchical Planning and Arbitration Path Tracking Adaptive Regard Real Time Latency Modelling Feedforward Simulation Tactical Planning Speed Planning High Speed Autonomy as an Optimal Control Problem Sensor Fusion For Autonomous Navigation Using Neural Networks Ian Lane Davis and Anthony Stentz 8.1 Introduction The Task at Hand Network Architecture Experiments and Results Conclusion

9 INTELLIGENT UNMANNED GROUND VEHICLES 9 Sonar-Based Outdoor Vehicle Navigation Dirk Langer and Charles E. Thorpe 9.1 Introduction Hardware Configuration Local Grid Map Obstacle Avoidance Object Tracking Parallel Parking Results and Conclusions STRIPE: Low-Bandwidth and High-Latency Teleoperation Jennifer Kay and Charles E. Thorpe 10.1 Introduction Other Low-Bandwith High-Delay Systems STRIPE Implementation Details Investigating the Interface Conclusion Optimal and Efficient Path Planning for Partially Known Environments Anthony Stentz 11.1 Introduction The D* Algorithm Soundness, Optimality, and Completeness Experimental Results Conclusions Dynamic Mission Planning for Multiple Mobile Robots Barry Brumitt and Anthony Stentz 12.1 Introduction

10 CONTENTS 12.2 Problem Statement Technical Approach Prototype System Results Conclusion and Future Work Integrating Position Estimation and Perception for Navigation Charles E. Thorpe, Omead Amidi, Jay Gowdy, Martial Hebert, and Dean Pomerleau 13.1 Introduction Position Measurement and Error Modeling Annotated Maps Filtered Position Updates Experiments and Results Conclusion An Integrated System for Autonomous Off-Road Navigation Dirk Langer, Julio K. Rosenblatt, and Martial Hebert 14.1 Introduction System Overview Autonomous Navigation: An Experiment Perception Local Map Management Path Planning Combining Obstacle Detection and Goal Seeking: An Example System Performance and Future Work A Navigation System for Goal Acquisition in Unknown Environments Anthony Stentz and Martial Hebert 15.1 Introduction

11 INTELLIGENT UNMANNED GROUND VEHICLES 15.2 The Navigation System Experimental Results Conclusion