Perception and Navigation System for Autonomous Mobile Applications


PANORAMA - 2483

Keywords autonomous vehicles, knowledge-based systems, mobile robots, navigation, perception, sensors


Start Date: 01-MAR-89 / Duration: 60 months

[ contact / participants ]


Objectives and Approach

The goal of PANORAMA is to develop an advanced perception and navigation system for autonomous vehicles, enabling automatic path determination and continuous safe motion in partially structured and partially known environments, such as forests, fields and open mines. The project is mainly concerned with navigation in outdoor environments structured with paths or tracks and some natural or non-natural landmarks. Specific objectives are to:

The navigation technique relies on a combination of proprioceptive and exteroceptive data. The approach incorporates both dead reckoning and external cues, such as global positioning systems and visual markers (eg road edges and landmarks). An inertial navigation system is used in combination with a database modelling the road network and landmarks.

Progress and Results

The test-bed land vehicle now features controlled actuation of steering, throttle and brakes and is able to navigate an outdoor industrial site autonomously by dead reckoning. The following perception tasks have been successfully tested:

The first versions of local path planning, environment modelling and perception planning are now running on a workstation and providing simulation tests; they should be partially integrated onboard the land vehicle test-bed by the end of 1991.

In addition, the project has issued an original computing hardware architecture that allies the advantages of well-known VME-based systems (for interfaces with sensors and actuators) and the high computing power potentialities of transputer-based architectures (parallelisation of high level processing for modelling, planning and decision processes), enabling an easy upgrading of system performance and a large degree of development flexibility.

Exploitation

Application areas foreseen include: material transportation in building sites, forests, farms, open quarries, docks and warehouses; special-purpose machines, such as harvesters, rock-drills, construction machines, and cleaning machines for large areas; surveillance of outdoor sites; and in hazardous environments, such as chemical and nuclear plants.


CONTACT POINT

Mr Philippe Lemarquand
SAGEM
Immeuble Le Ponant de Paris
27 rue Leblanc
F - 75512 PARIS CEDEX 15
tel: + 33/ 1-4070-6779
fax: + 33/ 1-4070-6646
telex: 205255 F

Participants

SAGEM - F - C
BRITISH AEROSPACE PLC - UK - P
EASAMS LTD - UK - P
CEA - F - P
SEPA ELETTRONICA AUTOMAZIONE - I - P
TAMPELLE LTD PAPERMACHINERY - SF - P
RAUMA-REPOLA - SF - P
UNIVERSIDAD POLITECNICA DE MADRID - E - P
LNETI - P - P
EMPRESA DE INVESTIGACAO E
DESENVOLVIMENTO DE ELECTRONICA - P - P
CRIF/WTCM INDUSTRIAL AUTOMATION - B - P
UNIVERSITY OF SOUTHAMPTON - UK - A


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PANORAMA - 2483, December 1993


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html version of synopsis by Nick Cook