• Corpus ID: 17211519

First Results in Robot Road-Following

  title={First Results in Robot Road-Following},
  author={Richard S. Wallace and Anthony Stentz and Charles E. Thorpe and Hans P. Moravec and William Whittaker and Takeo Kanade},
The new Carnegie Mellon Autonomous I and Vehicle group has produced the first demonstrations of road following robots. [...] Key Method We next describe the vision system of the CMU ALV. We then present the control algorithms, including a simple and stable control scheme for visual servoing. Finally we discuss our plans for the future.Expand
An architecture for autonomous vehicle navigation
  • A. Stentz, C. Thorpe
  • Engineering
    Proceedings of the 1985 4th International Symposium on Unmanned Untethered Submersible Technology
  • 1985
The Autonomous Land Vehicle group at CMU is building an intelligent sensor-equipped robot vehicle. We have produced the first demonstrations of a system that uses vision to follow roads. This paper
The CMU system for mobile robot navigation
  • Y. Goto, A. Stentz
  • Engineering, Computer Science
    Proceedings. 1987 IEEE International Conference on Robotics and Automation
  • 1987
The various perception, planning, and control components of the CODGER software system for integrating these components into a single system, synchronizing the data flow between them in order to maximize parallelism are described.
Progress in robot road-following
In test runs of an outdoor robot vehicle, the Terregator, under control of the Warp computer, it is demonstrated continuous motion vision-guided road-following at speeds up to 1.08 km/hour with image processing and steering servo loop times of 3 sec.
Autonomous cross-country navigation with the ALV
  • M. Daily, John G. Harris, +6 authors V. Wong
  • Computer Science, Engineering
    Proceedings. 1988 IEEE International Conference on Robotics and Automation
  • 1988
A description is given of the first cross-country map and sensor-based autonomous operation of a robotic vehicle and two key experiments in which the vehicle avoided known and unknown obstacles in its path.
An intelligent system for an autonomous vehicle
An intelligent full-size autonomous vehicle system which simultaneously performs multiple constraint path planning from a DMA data base and goal properties list, obstacle avoidance, and road following is described.
Mobile Robot Navigation: The CMU System
The current status of autonomous land vehicle (ALV) research at F Carnegie Mellon University’s Robotics Institute is described, with an autonomous mobile robot system capable of operating in outdoor environments and a navigation system working at two test sites and on two experimental vehicles.
Outdoor Visual Navigation for Autonomous Robots
Several of the systems and subsystems built for the Navlab, and for the CMU Planetary Exploration walking robot, illustrate the different models and processing that enable those robots to perform their various tasks.
Explicit Path Tracking by Autonomous Vehicles
The vehicle control that has enabled the authors' autonomous vehicle to travel at speeds upto 20mph is discussed and it is shown that it is possible to obtain an increase in performance through the use of approximate dynamical models that capture first–order effects.
This paper describes an intelligent full-size autonomous vehicle system which simultaneously performs multiple constraint path planning from a DMA data base and goal properties list, obstacle
Mathematical Foundations of Navigation and Perception for an Autonomous Mobile Robot
  • J. Crowley
  • Computer Science
    Reasoning with Uncertainty in Robotics
  • 1995
The control system for a mobile robot is found to decompose naturally into a set of layered control loops, where the layers are defined by the level of abstraction of the data, and the cycle time of the feed-back control.


Visual navigation of roadways
A visual navigation system is being developed to enable a vehicle to follow roads which, for the time being, are free of obstacles, and an approach which consists of a boot-strap phase and a feed-forward phase is developed.
Machine Vision Applied to Vehicle Guidance
Research on the semiautonomous operation of mobile robots in typical pathways is described, and a method to separate obstacles from shadows using stere vision is presented.
High resolution maps from wide angle sonar
  • H. Moravec, A. Elfes
  • Engineering, Computer Science
    Proceedings. 1985 IEEE International Conference on Robotics and Automation
  • 1985
The use of multiple wide-angle sonar range measurements to map the surroundings of an autonomous mobile robot deals effectively with clutter, and can be used for motion planning and for extended landmark recognition.
Digital Picture Processing
The rapid rate at which the field of digital picture processing has grown in the past five years had necessitated extensive revisions and the introduction of topics not found in the original edition.
A modified Hough transform for lines
Fido: vision and navigation for a robot rover