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Local Navigation using Traversability Maps
Linköping University, Department of Management and Engineering, Fluid and Mechanical Engineering Systems. Linköping University, The Institute of Technology.
Linköping University, Department of Management and Engineering, Fluid and Mechanical Engineering Systems. Linköping University, The Institute of Technology.
2010 (English)In: 7th Symposium on Intelligent Autonomous Vehicles, IAV2010, Lecce, Volume 7, Part 1 / [ed] Indiveri, Giovanni, Pascoal, Antonio M., 2010, 324-329 p.Conference paper, Published paper (Refereed)
Abstract [en]

In outdoor robotics it is important to be able to ascertain the traversability of thes urrounding terrain. This paper presents a system where continuously generated traversability maps, useful for obstacle avoidance, are generated, stored and later reused to perform detailed local path planning. The detailed plan can be used as a temporary replacement for parts of a global plan that may lack knowledge about impassable obstacles or troublesome areas. The paper also describes an algorithm useful for on-line alignment and merging of previously stored traversability maps. Being able to align and merge maps is vital as the estimated global poses of multiple overlapping maps stored at different times may differ.

Place, publisher, year, edition, pages
2010. 324-329 p.
Keyword [en]
Obstacle avoidance, local navigation, traversability, path planning
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-60739DOI: 10.3182/20100906-3-IT-2019.00057ISBN: 978-3-902661-87-6 (print)OAI: oai:DiVA.org:liu-60739DiVA: diva2:358877
Conference
Intelligent Autonomous Vehicles, September 6-8, University of Salento, Lecce, Italy, Volume7, Part 1
Available from: 2010-10-25 Created: 2010-10-25 Last updated: 2014-09-22
In thesis
1. Mobile Robot Traversability Mapping: For Outdoor Navigation
Open this publication in new window or tab >>Mobile Robot Traversability Mapping: For Outdoor Navigation
2012 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

To avoid getting stuck or causing damage to a vehicle or its surroundings a driver must be able to identify obstacles and adapt speed to ground conditions. An automatically controlled vehicle must be able to handle these identifications and adjustments by itself using sensors, actuators and control software. By storing properties of the surroundings in a map, a vehicle revisiting an area can benefit from prior information.

Rough ground may cause oscillations in the vehicle chassis. These can be measured by on-board motion sensors. For obstacle detection, a representation of the geometry of the surroundings can be created using range sensors. Information on where it is suitable to drive, called traversability, can be generated based on these kinds of sensor measurements.

In this work, real semi-autonomous mobile robots have been used to create traverasbility maps in both simulated and real outdoor environments. Seeking out problems through experiments and implementing algorithms in an attempt to solve them has been the core of the work.

Finding large obstacles in the vicinity of a vehicle is seldom a problem; accurately identifying small near-ground obstacles is much more difficult, however. The work additionally includes both high-level path planning, where no obstacle details are considered, and more detailed planning for finding an obstacle free path. How prior maps can be matched and merged in preparation for path planning operations is also shown. To prevent collisions with unforeseen objects, up-to-date traversability information is used in local-area navigation and obstacle avoidance.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2012. 122 p.
Series
Linköping Studies in Science and Technology. Thesis, ISSN 0280-7971 ; 1564
Keyword
Traversability, Laser, Roughness, Mapping, Planning, Mobile robot, Navigation, Implementation
National Category
Engineering and Technology
Identifiers
urn:nbn:se:liu:diva-85937 (URN)LIU-TEK-LIC-2012:49 (Local ID)978-91-7519-726-5 (ISBN)LIU-TEK-LIC-2012:49 (Archive number)LIU-TEK-LIC-2012:49 (OAI)
Presentation
2012-12-14, A39, A-huset, Campus Valla, Linköpings universitet, Linköping, 14:15 (English)
Opponent
Supervisors
Available from: 2012-12-03 Created: 2012-12-03 Last updated: 2012-12-06Bibliographically approved

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Nordin, PeterNygårds, Jonas

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