The robotics research community is striving to endow a wide variety of vehicles with the capability of autonomous mobility. Related research is being undertaken in two intrinsically different test vehicles. The ASV (Adaptive Suspension Vehicle), which uses legs as a means of propulsion, is being utilized to address problems of mobility. Mobility research is concerned with the problem of traveling over terrains of high spatial complexity. Machine autonomy can be defined as the ability of a machine to perform tasks in an arbitrarily complex and dynamic environment without external assistance during operation. Autonomy is a subject of research in the wheeled ALV (Autonomous Land Vehicle) program. By endowing the ASV with a decision system for autonomous navigation over rough terrain, both efforts can be concentrated in one test-bed. Research on foothold selection during terrain traversal was conducted through studies of natural systems and computer simulation. Experiments were performed with Nubian goats on simulated rough terrain in order to explore the ways in which natural systems select footholds. A computer simulation of rough terrain traversal was developed in parallel with the animal studies. Pertinent results from the animal experiments were integrated into the computer simulation. A terrain module was developed for building complex, simulated terrains. Graphics display capabilities were also built to provide views of the generated terrain. (kt/kr)


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    Animal Orientation and Navigation

    Galler, S. R. / Schmidt-Koenig, K. / Jacobs, G. J. et al. | NTRS | 1972


    Animal Orientation and Navigation

    S. R. Galler / K. Schmidt-koenig / G. J. Jacobs et al. | NTIS | 1972


    Animal Navigation: Pitfalls and Remedies

    Cheung, A. / Zhang, S. / Stricker, C. et al. | British Library Conference Proceedings | 2007



    Experimental simulation of satellite relative navigation using computer vision

    Abderrahim, M. / Diaz, J.C. / Rossi, C. et al. | IEEE | 2005