Mobile robot vehicles must control the execution of numerous perception and planning processes to navigate successfully in complex environments. In the past, most mobile robot systems have utilized stop-and-go control schemes that avoid addressing the driving control problem, or have used fixed control scheme that do not allow for the changing environment and field of view of the vehicle. This paper presents a new architecture for mobile robot control called the Driving Pipeline that integrates multiple perception and planning processes and provides continuous motion with adaptive control. The Driving Pipeline has been implemented and tested on numerous versions of two vehicles: the Terregator and the NAVLAB. It has proven to be a flexible and powerful mechanism for building integrated software for mobile robot perception and planning. Keywords: Mobile robot; Perception; Planning: Driving pipeline; Software.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Driving Pipeline: A Driving Control Scheme for Mobile Robots


    Beteiligte:
    Y. Goto (Autor:in) / S. A. Shafer (Autor:in) / A. Stentz (Autor:in)

    Erscheinungsdatum :

    1988


    Format / Umfang :

    27 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




    Driving Robots

    Bräunl, Thomas | Springer Verlag | 2022


    Reduced-Scale Mobile Robots for Autonomous Driving Research

    Xie, Zhuopeng / Ramezani, Mohsen / Levinson, David | IEEE | 2024

    Freier Zugriff

    Modeling Pipeline Driving Behaviors

    Zou, Xi / Levinson, David M. | Transportation Research Record | 2006



    DRIVING DEVICE AND PIPELINE CONNECTION STRUCTURE

    NAKAMATSU SHUHEI / FUKUNAGA KEISUKE / FUJIMOTO SHOHEI | Europäisches Patentamt | 2020

    Freier Zugriff