Reactive Navigation on Natural Environments by Continuous Classification of Ground Traversability

Martínez, Jorge L.; Morales, José; Sánchez, Manuel; Morán, Mariano; Reina, Antonio J.; Lozano, Juan Jesús Fernández

doi:10.3390/s20226423

Cited by 14 publications

(23 citation statements)

References 41 publications

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“…Traditionally, rigid obstacles and negative obstacles such as ditches and holes are detected using geometric information from range sensors such as laser range finders (LRFs), stereo cameras, and RGB-D sensors. In unstructured scenes, many studies have focused on estimating the traversability of terrains by analyzing the steepness, roughness and so on [13,14,15,16]. Bogoslavsky et al [13] estimated the traversability of indoor environments using Kinect sensor by analyzing the normals.…”

Section: Related Work a Traversability Estimation 1) Geometry-based Methodsmentioning

confidence: 99%

Image-Based Scene Recognition for Robot Navigation Considering Traversable Plants and Its Manual Annotation-Free Training

2022

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Matsuzaki et al.: Scene recognition for robot navigation considering traversable plants and manual annotation-free training This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/ This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication.

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Section: Related Work a Traversability Estimation 1) Geometry-based Methodsmentioning

confidence: 99%

Image-Based Scene Recognition for Robot Navigation Considering Traversable Plants and Its Manual Annotation-Free Training

2022

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“…Reactive navigation represents the minimum of required functions, which are inevitable for automatically guiding a vehicle or mobile robot to a goal while avoiding potential collisions under some other predefined conditions, for example, construction limits of such a vehicle. This task is mostly performed using laser pathfinders [32] and cameras [33], which are able to provide information about longitudinal and angular distances among objects of a given environment. Today's reactive navigation approaches are often not limited to avoiding obstacles only, but they also try to optimize their solutions.…”

Section: Related Workmentioning

confidence: 99%

Means of IoT and Fuzzy Cognitive Maps in Reactive Navigation of Ubiquitous Robots

et al. 2021

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Development of accessible and cheap sensors as well as the possibility to transfer and process huge amounts of data offer new possibilities for many areas utilizing till now conventional approaches. Navigation of robots and autonomous vehicles is no exception in this aspect and Internet of Things (IoT), together with the means of computational intelligence, represents a new way for construction and use of robots. In this paper, the possibility to move sensors from robots to their surroundings with the help of IoT is presented and the modification of the IoT concept in the form of intelligent space as well as the concept of ubiquitous robot are shown in the paper. On an example of route tracking, we will clarify the potential of distributed networked sensors and processing their data with the use of fuzzy cognitive maps for robotic navigation. Besides, two modifications of adaptation approaches, namely particle swarm optimization and migration algorithm, are presented here. A series of simulations was performed, which are discussed and future research directions are proposed.

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“…The risks caused by natural causes, which contribute to the worsening of emergencies, include climate change as in the “Hyogo Framework for Action”. Response personnel in reported cases [ 3 , 4 ] are permanently at risk, which could even include death, regardless of the equipment and substances used to protect them from the effects of radiation and fire [ 5 , 6 , 7 , 8 ]. The multiple causes of death of firefighters during missions include smoke inhalation, burns, crush injuries, and trauma [ 9 ].…”

Section: Introductionmentioning

confidence: 99%

A Dynamic Motion Analysis of a Six-Wheel Ground Vehicle for Emergency Intervention Actions

Grigore

Gorgoteanu

Molder

et al. 2021

Sensors

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To protect the personnel of the intervention units operating in high-risk areas, it is necessary to introduce (autonomous/semi-autonomous) robotic intervention systems. Previous studies have shown that robotic intervention systems should be as versatile as possible. Here, we focused on the idea of a robotic system composed of two vectors: a carrier vector and an operational vector. The proposed system particularly relates to the carrier vector. A simple analytical model was developed to enable the entire robotic assembly to be autonomous. To validate the analytical-numerical model regarding the kinematics and dynamics of the carrier vector, two of the following applications are presented: intervention for extinguishing a fire and performing measurements for monitoring gamma radiation in a public enclosure. The results show that the chosen carrier vector solution, i.e., the ground vehicle with six-wheel drive, satisfies the requirements related to the mobility of the robotic intervention system. In addition, the conclusions present the elements of the kinematics and dynamics of the robot.

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Reactive Navigation on Natural Environments by Continuous Classification of Ground Traversability

Cited by 14 publications

References 41 publications

Image-Based Scene Recognition for Robot Navigation Considering Traversable Plants and Its Manual Annotation-Free Training

Image-Based Scene Recognition for Robot Navigation Considering Traversable Plants and Its Manual Annotation-Free Training

Means of IoT and Fuzzy Cognitive Maps in Reactive Navigation of Ubiquitous Robots

A Dynamic Motion Analysis of a Six-Wheel Ground Vehicle for Emergency Intervention Actions

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