SMART Navigation in Structured and Unstructured Environments

Abstract

Recently, intelligent transportation systems have been introduced for tasks like automated parking and highway driving. This is one of many contact points between human and robot intelligence, in that a human driver is sharing the driving task with intelligent computer systems. In this video we present an automated passenger vehicle that is able to autonomously navigate through both structured and unstructured B23environments without relying on prior environmental information or known waypoints. The system uses ego motion estimation based on an inertial measurement unit and internal vehicle sensors, and combines this with a laser range finder to map its environment. It uses a combination of global planning and local planning to safely navigate through the environment to a desired goal location.