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Perception and Navigation System for Autonomous Mobile Applications

Objective

The goal of PANORAMA is to develop an advanced perception and navigation system for autonomous vehicles, enabling automatic path determination and continuous safe motion in partially structured and partially known environments, such as forests, fields and open mines. The project is mainly concerned with navigation in outdoor environments structured with paths or tracks and some natural or non-natural landmarks.
The goal of PANORAMA is to develop an advanced perception and navigation system for autonomous vehicles, enabling automatic path determination and continuous safe motion in partially structured and partially known environments, such as forests, fields and open mines. The project is mainly concerned with navigation in outdoor environments structured with paths or tracks and some natural or nonnatural landmarks.
Specific objectives are to develop a general purpose perception and navigation system suitable for a large range of outdoor application domains, to test project developments and intermediate results gradually with a fully equipped land vehicle used as a system test bench and to demonstrate capabilities of autonomous motion within real application sites.
The test bed land vehicle now features controlled actuation of steering, throttle and brakes and is able to navigate an outdoor industrial site autonomously by dead reckoning. The following perception tasks have been successfully tested: visual beacons detection for relocalization (colour image processing); obstacle detection up to 30 m ahead of the vehicle (using a laser rangefinder); proximity sensing for close range safety, up to 6 m ahead of the vehicle (using ultrasonic sensors).
The first versions of local path planning, environment modelling and perception planning are now running on a workstation and providing simulation tests. They should be partially integrated onboard the land vehicle test bed in the near future.
In addition, the project has issued an original computing hardware architecture that allies the advantages of well known VME-based systems (for interfaces with sensors and actuators) and the high computing power potentialities of transputer based architectures (parallelization of high level processing for modelling, planning and decision processes), enabling an easy upgrading of system performance and a large degree of development flexibility.
Specific objectives are to:

- develop a general-purpose perception and navigation system suitable for a large range of outdoor application domains
- gradually test project developments and intermediate results with a fully equipped land vehicle used as a system test-bench
- demonstrate capabilities of autonomous motion within real application sites

The navigation technique relies on a combination of proprioceptive and exteroceptive data. The approach incorporates both dead reckoning and external cues, such as global positioning systems and visual markers (eg road edges and landmarks). An inertial navigation system is used in combination with a database modelling the road network and landmarks.

Topic(s)

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Call for proposal

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Funding Scheme

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Coordinator

Société d'Applications Générales d'Électricité et de Mécanique
Address
6 Avenue D'iena
75783 Paris
France

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Participants (11)

British Aerospace plc
United Kingdom
Address
Sowerby Research Centre Filton
BS12 7QW Bristol

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Commissariat à l'Energie Atomique (CEA)
France
Address
Centre D'études De Grenoble 17 Avenue Des Martyrs
38041 Grenoble

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EASAMS Ltd
United Kingdom
Address
Lyon Way Frimley
GU16 5EX Camberley

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EMPRESA INVES.E DESEN.DE ELECTRONICA
Portugal
Address
Quinta Dos Medronheiros - Lazarim, 27
2825 Monte De Caparica

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LAB NACIONAL DE ENGENHARIA E TECNOLOGIA INDUSTRIAL
Portugal
Address
Estrada Do Paco Do Lumiar, Edif.j, 1699
1600 Lisboa

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RAUMA-REPOLA
Finland
Address
, 306
33101 Tampere

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Sepa Elettronica Automazione SpA
Italy
Address
Corso Giulio Cesare 294
10154 Torino

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TAMROCK OY
Finland
Address
Pihtisulinkatu, 9
33310 Tampere

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UNIVERSITAT POLITECNICA DE MADRID
Spain
Address
Campus De Montegancedo
28660 Madrid

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UNIVERSITY OF SOUTHAMPTON
United Kingdom
Address
Southampton Ocenagraphic Centre, European Way
SO14 3ZH Southampton

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WTCM INDUSTRIAL AUTOMATION
Belgium
Address
Rue Des Drapiers, 21
1050 Bruxelles

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