Reactive Navigation on Natural Environments by Continuous Classification of Ground Traversability
| Autor: | Jesus Morales, Manuel Sánchez, J. Fernandez-Lozano, Mariano Morán, Jorge L. Martínez, Antonio J. Reina |
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| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Letter Computer science Terrain 02 engineering and technology traversability classification lcsh:Chemical technology Biochemistry Natural (archaeology) Analytical Chemistry 020901 industrial engineering & automation Component (UML) 0202 electrical engineering electronic engineering information engineering Computer vision lcsh:TP1-1185 ground vehicles Electrical and Electronic Engineering Instrumentation business.industry Mobile robot Atomic and Molecular Physics and Optics 3D point cloud robotic simulation Key (cryptography) field navigation 020201 artificial intelligence & image processing Artificial intelligence business |
| Zdroj: | Sensors, Vol 20, Iss 6423, p 6423 (2020) Sensors (Basel, Switzerland) |
| ISSN: | 1424-8220 |
| Popis: | Reactivity is a key component for autonomous vehicles navigating on natural terrains in order to safely avoid unknown obstacles. To this end, it is necessary to continuously assess traversability by processing on-board sensor data. This paper describes the case study of mobile robot Andabata that classifies traversable points from 3D laser scans acquired in motion of its vicinity to build 2D local traversability maps. Realistic robotic simulations with Gazebo were employed to appropriately adjust reactive behaviors. As a result, successful navigation tests with Andabata using the robot operating system (ROS) were performed on natural environments at low speeds. |
| Databáze: | OpenAIRE |
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