CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
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
Source PublicationINTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
2018-01-11
Volume15Issue:1Pages:1-12
SubtypeArticle
AbstractTerrain 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.
KeywordTerrain Description Point Cloud Elevation Grid Map Roughness Slope Angle Estimation Mobile Robots
WOS HeadingsScience & Technology ; Technology
DOI10.1177/1729881417751530
WOS KeywordROUGH TERRAIN ; MOBILE ROBOT ; CLASSIFICATION ; FIELD
Indexed BySCI
Language英语
Funding OrganizationBeijing National Science Foundation(4161002) ; National Natural Science Foundation of China(61633020 ; 61773378 ; 61633017 ; U1713222)
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000419890500001
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/20877
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.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
First Author AffilicationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Recommended Citation
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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