In this paper, we propose an autonomous navigation for Unmanned Ground Vehicles (UGVs) by a path selection method based on local features of terrain in unknown outdoor rough terrain environment. The correlation between a local terrain feature obtained from a path and a value of the path obtained from the global path planning is extracted in advance. When UGV comes to a branch while it is running, the value of path is estimated using the correlation with local terrain feature. Thereby, UGV navigation is performed by path selection under the criterion of shortest time in unknown outdoor environment. We experimented on a simulator and confirmed that the proposed method can select more effective paths in comparison with a simple path selection method.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Path selection based on local terrain feature for unmanned ground vehicle in unknown rough terrain environment


    Contributors:


    Publication date :

    2013-12-01


    Size :

    4146537 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Rough Terrain Path Planning for Autonomous Ground Robot

    Truong, Xuan-Phat / Hong, Seong Hyeon | AIAA | 2024


    ROUGH TERRAIN VEHICLE

    SAKAMOTO NAOKI / NOZAKI YASUHIRO / KOBAYASHI NAOKI et al. | European Patent Office | 2019

    Free access

    ROUGH TERRAIN VEHICLE

    SAKAMOTO NAOKI / WILLIAMS DUSTIN L | European Patent Office | 2018

    Free access

    ROUGH TERRAIN VEHICLE

    SAKAMOTO NAOKI | European Patent Office | 2017

    Free access

    ROUGH TERRAIN VEHICLE

    YOSHINA HIROKI / UCHIYAMA HAJIME | European Patent Office | 2015

    Free access