Reactive navigation through rough terrain: experimental results

Authors:
David P. Miller;Rajiv S. Desai;Erann Gat;Robert Ivlev;John Loch
Affiliations:
Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA;Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA;Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA;Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA;Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA
Venue:
AAAI'92 Proceedings of the tenth national conference on Artificial intelligence
Year:
1992

Citing 2
Cited 2

Reliable goal-directed reactive control of autonomous mobile robots

Reliable goal-directed reactive control of autonomous mobile robots
A Colony Architecture for an Artificial Creature

A Colony Architecture for an Artificial Creature

Integrating planning and reacting in a heterogeneous asynchronous architecture for controlling real-world mobile robots

AAAI'92 Proceedings of the tenth national conference on Artificial intelligence
Stereo-vision-based navigation of a six-legged walking robot in unknown rough terrain

International Journal of Robotics Research

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Abstract

This paper describes a series of experiments that were performed on the Rocky III robot. Rocky III is a small autonomous rover capable of navigating through rough outdoor terrain to a predesignated area, searching that area for soft soil, acquiring a soil sample, and depositing the sample in a container at its home base. The robot is programmed according to a reactive behavior-control paradigm using the ALFA programming language. This style of programming produces robust autonomous performance while requiring significantly less computational resources than more traditional mobile robot control systems. The code for Rocky III runs on an 8-bit processor and uses about 10k of memory.