The paper addresses the problem of mobile robots’ navigation using a hexagonal lattice. We carried out experiments in which we used a vehicle equipped with a set of sensors. Based on the data, a traversable map was created. The experimental results proved that hexagonal maps of an environment can be easily built based on sensor readings. The path planning method has many advantages: the situation in which obstacles surround the position of the robot or the target is easily detected, and we can influence the properties of the path, e.g., the distance from obstacles or the type of surface can be taken into account. A path can be smoothed more easily than with a rectangular grid.
The article presents the application of a hyperspectral camera in mobile robot navigation. Hyperspectral cameras are imaging systems that can capture a wide range of electromagnetic spectra. This feature allows them to detect a broader range of colors and features than traditional cameras and to perceive the environment more accurately. Several surface types, such as mud, can be challenging to detect using an RGB camera. In our system, the hyperspectral camera is used for ground recognition (e.g., grass, bumpy road, asphalt). Traditional global path planning methods take the shortest path length as the optimization objective. We propose an improved A* algorithm to generate the collision-free path. Semantic information makes it possible to plan a feasible and safe path in a complex off-road environment, taking traveling time as the optimization objective. We presented the results of the experiments for data collected in a natural environment. An important novelty of this paper is using a modified nearest neighbor method for hyperspectral data analysis and then using the data for path planning tasks in the same work. Using the nearest neighbor method allows us to adjust the robotic system much faster than using neural networks. As our system is continuously evolving, we intend to examine the performance of the vehicle on various road surfaces, which is why we sought to create a classification system that does not require a prolonged learning process. In our paper, we aimed to demonstrate that the incorporation of a hyperspectral camera can not only enhance route planning but also aid in the determination of parameters such as speed and acceleration.
The article presents a navigation system that utilizes a semantic map created on a hexagonal grid. The system plans the path by incorporating semantic and metric information while considering the vehicle’s dynamic constraints. The article concludes by discussing a low-level control algorithm used in the system. This solution’s advantages include using a semantic map on a hexagonal grid, which enables more efficient and accurate navigation. Creating a map of allowable speeds based on the semantic map provides an additional layer of information that can help optimize the vehicle’s trajectory. Incorporating both semantic and metric information in the path-planning process leads to a more precise and tailored navigation solution that accounts for the vehicle’s capabilities and the environment it is operating in. Finally, the low-level control algorithm ensures that the vehicle follows the planned trajectory while considering real-time sensor data and other factors affecting its movement. Through this article, we aim to provide insights into the cutting-edge advancements in path planning techniques and shed light on the potential of combining hexagonal grids, vehicle dynamics constraints, and semantic awareness. These innovations have the potential to revolutionize autonomous navigation systems, enabling vehicles to navigate complex environments with greater efficiency, safety, and adaptability.
The article concerns the most important issues of designing an unmanned vehicle for the implementation of observation tasks in the protection of the perimeter of the state border. An analysis of the terrain conditions necessary for the unmanned vehicle to overcome and a description of the key components of the HUNTeR vehicle responsible for the ability to work in such conditions was presented. Also included were tests verifying the basic assumptions of the project in the field of operation at the maximum speed of travel.
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