Most research on off-road mobile robot sensing focuses on obstacle negotiation, path planning, and position estimation. These issues have conventionally been the foremost factors limiting the performance and speeds of mobile robots. Very little attention has been paid to date to the issue of terrain trafficability, that is, the terrain's ability to support vehicular traffic. Yet, trafficability is of great importance if mobile robots are to reach speeds that human-driven vehicles can reach on rugged terrain. For example, it is obvious that the maximal allowable speed for a turn is lower when driving over sand or wet grass than when driving on packed dirt or asphalt. This paper presents our work on automated real-time characterization of terrain with regard to trafficability for small mobile robots. The two proposed methods can be implemented on skid-steer mobile robots and possibly also on tracked mobile robots. The paper also presents experimental results for each of the two implemented methods.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Terrain trafficability characterization with a mobile robot


    Beteiligte:
    Ojeda, Lauro (Autor:in) / Borenstein, Johann (Autor:in) / Witus, Gary (Autor:in)

    Kongress:

    Unmanned Ground Vehicle Technology VII ; 2005 ; Orlando,Florida,United States


    Erschienen in:

    Erscheinungsdatum :

    27.05.2005





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Special robot with all-terrain trafficability

    XIE XIAOHUI / LI XIAO | Europäisches Patentamt | 2024

    Freier Zugriff


    Trafficability of organic terrain

    Ashdown, K. / Radforth, N.W. | Engineering Index Backfile | 1966


    Trafficability tests on confined organic terrain (Muskeg)

    Rush, E.S. / Schreiner, B.G. / Radforth, N.W. | Engineering Index Backfile | 1965


    Trafficability tests on confined organic terrain (Muskeg)

    Radforth, N.W. / Rush, E.S. | Engineering Index Backfile | 1964