Outdoor mobile robots currently treat vegetation as obstacles that need to be avoided. In order to have less conservative robots that fully exploit their motion capabilities, it is required to obtain models of the interaction of vegetation with the vehicle. This work proposes and experimentally verifies models of interaction of wheeled and tracked vehicles with pliable vegetation. In addition, a methodology to map perceptual features of the environment to resistive forces experienced by the robots is presented.
Characterization and Traversal of Pliable Vegetation for Robot Navigation
Springer Proceedings in Advanced Robotics
International Symposium on Experimental Robotics ; 2018 ; Buenos Aires, Argentina November 05, 2018 - November 08, 2018
Proceedings of the 2018 International Symposium on Experimental Robotics ; Kapitel : 26 ; 293-304
2020-01-23
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch