To autonomously navigate on rough terrain is a challenging problem for mobile robots, requiring the ability to decide whether parts of the environment can be traversed or have to be bypassed, which is commonly known as Obstacle Negotiation (ON). In this paper, we introduce a planning framework that extends ON to the general case, where different types of terrain classes directly map to specific robot skills, such as climbing stairs and ramps. This extension is based on a new concept called behavior maps, which is utilized for the planning and execution of complex skills. Behavior maps are directly generated from elevation maps, i.e. two-dimensional grids storing in each cell the corresponding height of the terrain surface, and a set of skill descriptions. Results from extensive experiments are presented, showing that the method enables the robot to explore successfully rough terrain in real-time, while selecting the optimal trajectory in terms of costs for navigation and skill execution. ; Artificial Intelligence & Integrated Computer Systems
Fully Autonomous Planning and Obstacle Negotiation on Rough Terrain Using Behavior Maps
2007-01-01
Conference paper
Electronic Resource
English
DDC: | 629 |
Behavior Maps for Online Planning of Obstacle Negotiation and Climbing on Rough Terrain
BASE | 2007
|Rough Terrain Path Planning for Autonomous Ground Robot
AIAA | 2024
|Terrain obstacle avoidance sonar for autonomous vehicles
Tema Archive | 1987
|Stereo Based Obstacle Detection with Uncertainty in Rough Terrain
British Library Conference Proceedings | 2007
|