Paper Info
Title
Robot navigation in multi-terrain outdoor environments
Abstract
This paper presents a methodology for motion planning in outdoor environments that takes into account specific characteristics of the terrain. Instead of decomposing the robot configuration space into "free" and "occupied", we consider the existence of several regions with different navigation costs. Costs are determined experimentally by navigating the robot through the regions and measuring the influence of the terrain on its motion. In this paper we measure the robot vertical acceleration, which reflects the terrain roughness. A path planning algorithm is used to determine a sequence of triangles that minimize the navigation cost. Robot control is accomplished by a piecewise continuous vector field that drives the robot through those regions. This vector field allows the robot velocity to change according to the characteristics of the terrain. Experimental results with a differential driven, all terrain mobile robot illustrate the proposed approach.
Year
DOI
Venue
2006
10.1007/978-3-540-77457-0_31
Springer Tracts in Advanced Robotics
Keywords
Field
DocType
motion planning,path planning,mobile robot,configuration space,vector field,robot control
Robot learning,Robot control,Social robot,Computer vision,Robot calibration,Terrain,Artificial intelligence,Mobile robot navigation,Engineering,Mobile robot,Articulated robot
Conference
Volume
ISSN
Citations 
39
1610-7438
9
PageRank 
References 
Authors
0.56
13
8
Name
Order
Citations
PageRank
Guilherme A. S. Pereira144533.51
Luciano C. A. Pimenta226222.37
Luiz Chaimowicz346747.24
Alexandre R. Fonseca4191.67
Daniel S. C. De Almeida5141.13
Leonardo De Q. Corrêa6141.13
Renato C. Mesquita718711.88
Mario Fernando Montenegro Campos855751.60