Robust edge extraction for Swissranger SR-3000 range images
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A Resilient and Scalable Flocking Scheme in Autonomous Vehicular Networks
Mobile Networks and Applications
Stereo vision based obstacle avoidance path-planning for cross-country intelligent vehicle
FSKD'09 Proceedings of the 6th international conference on Fuzzy systems and knowledge discovery - Volume 5
Terrain traversability analysis methods for unmanned ground vehicles: A survey
Engineering Applications of Artificial Intelligence
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This paper presents an autonomous terrain navigation system for a mobile robot. The system employs a two-dimensional laser range finder (LRF) for terrain mapping. A so-called "traversability field histogram" (TFH) method is proposed to guide the robot. The TFH method first transforms a local terrain map surrounding the robot's momentary position into a traversability map by extracting the slope and roughness of a terrain patch through least-squares plane fitting. It then computes a so-called "polar traversability index" (PTI) that represents the overall difficulty of traveling along the corresponding direction. The PTIs are represented in a form of histogram. Based on this histogram, the velocity and steering commands of the robot are determined. The concept of a virtual valley and an exit condition are proposed and used to direct the robot such that it can reach the target with a finite-length path. The algorithm is verified by simulation and experimental results