A terrain description method for traversability analysis based on elevation grid map
Meng, Xiangrui1,2; Cao, Zhiqiang1,2; Liang, Shuang1,2; Pang, Lei1,2; Wang, Shuo1,2; Zhou, Chao1,2
2018-01-11
发表期刊INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
卷号15期号:1页码:1-12
文章类型Article
摘要Terrain traversability analysis is a challenging problem for mobile robots to adapt to complex environments, including the detection of cluttered obstacles, potholes, or even slopes. With the accurate distance information, using distance sensors such as three-dimensional light detection and ranging (LiDAR) for terrain description becomes a preferred choice. In this article, a terrain description method for traversability analysis based on elevation grid map is presented. After the elevation grid map is generated, the ground is segmented with the aid of a height difference kernel and the non-ground grids in the map are then clustered. The terrain description features, including height index, roughness, and slope angle, are calculated and estimated. The slope angle is estimated using random sample consensus (RANSAC) and least squares method, and specifically, the roughness is combined to eliminate false slopes. Experimental results verified the effectiveness of the proposed method.
关键词Terrain Description Point Cloud Elevation Grid Map Roughness Slope Angle Estimation Mobile Robots
WOS标题词Science & Technology ; Technology
DOI10.1177/1729881417751530
关键词[WOS]ROUGH TERRAIN ; MOBILE ROBOT ; CLASSIFICATION ; FIELD
收录类别SCI
语种英语
项目资助者Beijing National Science Foundation(4161002) ; National Natural Science Foundation of China(61633020 ; 61773378 ; 61633017 ; U1713222)
WOS研究方向Robotics
WOS类目Robotics
WOS记录号WOS:000419890500001
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/20877
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 101408, Peoples R China
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GB/T 7714
Meng, Xiangrui,Cao, Zhiqiang,Liang, Shuang,et al. A terrain description method for traversability analysis based on elevation grid map[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2018,15(1):1-12.
APA Meng, Xiangrui,Cao, Zhiqiang,Liang, Shuang,Pang, Lei,Wang, Shuo,&Zhou, Chao.(2018).A terrain description method for traversability analysis based on elevation grid map.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,15(1),1-12.
MLA Meng, Xiangrui,et al."A terrain description method for traversability analysis based on elevation grid map".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 15.1(2018):1-12.
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