Navigation Of An Autonomous Mobile Intelligence Unit In The Unstructured Natural Environment
David R. Dodds · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1990
This paper addresses uses of fractals, fuzzy sets and image representation as it pertains to navigation of an autonomous mobile intelligence unit operating in an unstructured natural environment. Sensor fusion is achieved by combining variable rate and resolution sensor data into a model of the environment with which to do navigational planning. The major sensor is assumed to be a high duty cycle laser imaging rangefinder (LIRF). A secondary sensor consisting of a FLIR is also used. The LIRF is assumed to be mounted on a basic Autonomous Mobile Platform, a vehicle about the size of a deer and having quadripedal locomotion rather than wheels or tracks.