liu.seSearch for publications in DiVA
ReferencesLink to record
Permanent link

Direct link
Fully Autonomous Planning and Obstacle Negotiation on Rough Terrain Using Behavior Maps
2007 (English)In: In Video Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2007, 2561-2562Konferensbidrag (Refereed)
Abstract [en]

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.

National Category
Robotics Computer Science
Identifiers
urn:nbn:se:liu:diva-72545 (URN)10.1109/IROS.2007.4399131 (DOI)978-1-4244-0912-9 (ISBN)oai:DiVA.org:liu-72545 (OAI)
Conference
Conference on Intelligent Robots and Systems (IROS)
Projects
Artificial Intelligence & Integrated Computer Systems
Available from2011-11-28 Created:2011-11-28 Last updated:2013-08-08Bibliographically approved

Open Access in DiVA

fulltext(381 kB)92 downloads
File information
File name FULLTEXT01.pdfFile size 381 kBChecksum SHA-512
877533ae5c776328a5d9b8e11282c04aaa975c97e67e0ce041ee1f74fd0f46e2ab4e0890934d3aacb04f471216e53edec2fb7bd7f567ebc3b4b76b436f0b5f28
Typ fulltextMimetype application/pdf

Other links

Publisher's fulltext

Search in DiVA

By author/editor
Dornhege, ChristianKleiner, Alexander
By organisation
University of Freiburg
RoboticsComputer Science

Search outside of DiVA

GoogleGoogle Scholar
Totalt: 92 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Citations

Web of Science®:

Altmetric score

Totalt: 11 hits
ReferencesLink to record
Permanent link

Direct link