%0 Conference Proceedings
%F LACROIX-ISER-95
%A Lacroix, S.
%A Chatila, R.
%T Motion and Perception Strategies for Outdoor Mobile Robot 		 Navigation in Unknown Environments
%B Experimental Robotics IV: the 4th International Symposium, Stanford, Ca (USA)
%E Khatib, O.
%E Salisbury, J.K.
%P 538-547
%S Lecture Notes in Control and Information Sciences
%I Springer
%X This paper presents an experimented approach to autonomous robot navigation in an unknown natural environment. The approach involves several levels of reasoning, several environment representations, and three different motion modes. We focus on the ``navigation level'' of the whole system, which is in charge of reaching a distant goal by selecting sub-goals to reach, motion modes to apply, and perception tasks to execute for this purpose. We present how a terrain model dedicated to the navigation process is built on the 3D data acquired by the robot, and we describe an approach to tackle the difficult problem of planning perception and motion tasks. Experimental results on a realistic test site are presented and discussed
%U http://homepages.laas.fr/simon/publis/LACROIX-ISER-95.pdf
%D 1995
%K  oldies