Software framework for off-road autonomous robot navigation system

作     者：WU Er-yong ZHOU Wen-hui ZHANG Li DAI Guo-jun 

作者机构：Department of Computer Science Hangzhou Dianzi Univeristy Xiasha District Hangzhou 310018 P. R. China 

出 版 物：《重庆邮电大学学报（自然科学版）》 (Journal of Chongqing University of Posts and Telecommunications(Natural Science Edition))

年 卷 期：2009年第21卷第2期

页      面：178-183页

学科分类：081104[工学-模式识别与智能系统] 08[工学] 081105[工学-导航、制导与控制] 0811[工学-控制科学与工程] 

基　　金：supported by Nature Science Foundation of Zhejiang Province(No. Y10808 83 and No.Y1080967) Supported by Preferential Subject Key Project of Zhejiang Province(No.2008C13G2040006) 

主　　题：自主机器人 导航系统 软件框架 多传感器融合 分布式系统 障碍检测 情报系统 三层结构 

摘      要：This paper presents a software framework for off-road autonomous robot navigation *** the requirements of accurate terrain perception and instantaneous obstacles detection,one navigation software framework was advanced based on the principles of three layer architecture of intelligence *** the technologies of distributed system,machine learning and multiple sensor fusion,individual functional module was *** paper aims to provide a framework reference for autonomous robot navigation system design.