Virginia Tech’s Twin Contenders: A Comparative Study of Reactive and Deliberative Navigation

Leedy, Brett M.; Putney, Joseph; Bauman, Cheryl; Cacciola, Stephen; Webster, Jane; Reinholtz, Charles F.

doi:10.1007/978-3-540-73429-1_5

Cited by 15 publications

(16 citation statements)

References 4 publications

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“…Navigation on natural terrains can be performed by following distant goal points given by their geographic coordinates [20,21]. These waypoints can be planned based on 2D terrestrial maps or aerial images [22], and represents the trajectory that, broadly, the vehicle should follow.…”

Section: Introductionmentioning

confidence: 99%

Field Navigation Using Fuzzy Elevation Maps Built with Local 3D Laser Scans

et al. 2018

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Abstract:The paper describes the case study of the mobile robot Andabata navigating on natural terrain at low speeds with fuzzy elevation maps (FEMs). To this end, leveled three-dimensional (3D) point clouds of the surroundings are obtained by synchronizing ranges obtained from a 360 • field of view 3D laser scanner with odometric and inertial measurements of the vehicle. Then, filtered point clouds are employed to produce FEMs and their corresponding fuzzy reliability masks (FRMs). Finally, each local FEM and its FRM are processed to choose the best motion direction to reach distant goal points through traversable areas. All these tasks have been implemented using ROS (Robot Operating System) nodes distributed among the cores of the onboard processor. Experimental results of Andabata during non-stop navigation on an urban park are presented.

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Section: Introductionmentioning

confidence: 99%

Field Navigation Using Fuzzy Elevation Maps Built with Local 3D Laser Scans

et al. 2018

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“…Despite the fact that many systems are designed with rugged chassis (and some are designed to be mechanically invertible), rollover accidents often disable the robot and/or damage its payload. Rollover accidents have been reported in the literature [5] and have been experienced by the authors during field experiments.…”

Section: Introductionmentioning

confidence: 90%

“…The left side of Equation (22) is equivalent to the direct SM defined in Equation (5). Thus the right side of Equation (22) is the indirect SM.…”

Section: Indirect Sm Calculationmentioning

confidence: 99%

Stability measurement of high-speed vehicles

Peters

Iagnemma

2009

Vehicle System Dynamics

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Vehicle rollover represents a significant percentage of single-vehicle accidents and accounts for over 9000 fatalities and over 200,000 non-fatal injuries each year. Previous research has yielded rollover stability control systems that are effective in on-road conditions. Accident statistics show, however, that over 90% of rollovers involve road departure, during which a vehicle may encounter sloped and rough terrain while travelling at high speed. A critical element of most rollover stability control systems is a metric that monitors a vehicle's nearness to rollover. Most metrics, however, are designed for use on flat, level surfaces characteristic of on-road terrain. In this paper, a new stability metric, termed the stability moment, is proposed that is accurate on terrain surfaces with arbitrary geometry, which allows it to be used in road departure scenarios. The metric is based on an estimate of the distribution of wheel-terrain contact forces. The metric can be calculated on line in real time, using only practical, low-cost sensors. The metric is compared in simulations and experimental studies to existing stability metrics and is shown to exhibit superior performance, particularly in off-road conditions.

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“…This local path planning strategy is compatible with global paths composed of distant way points that are meant to be reached in straight line motion from the current robot pose [25] [26].…”

Section: Local Path Planningmentioning

confidence: 99%

Navigability analysis of natural terrains with fuzzy elevation maps from ground-based 3D range scans

Martínez

Mandow

Reina

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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-Mobile robot navigation through natural terrains is a challenging issue with applications such as planetary exploration or search and rescue. This paper proposes navigability assessment of natural terrains scanned from groundbased 3D laser rangefinders. A continuous model of the terrain is obtained as a fuzzy elevation map (FEM). Based on this model, the proposed solution incorporates terrain navigability both in terms of uncertainties of the 3D input data and slope of the fuzzy surface. Moreover, the paper discusses the application of this method for local path planning. For this purpose, the Bug algorithm has been adapted to compute local paths on the navigable region of the FEM. The method has been applied to actual 3D point clouds on two different experimental sites. Abstract-Mobile robot navigation through natural terrains is a challenging issue with applications such as planetary exploration or search and rescue. This paper proposes navigability assessment of natural terrains scanned from ground-based 3D laser rangefinders. A continuous model of the terrain is obtained as a fuzzy elevation map (FEM). Based on this model, the proposed solution incorporates terrain navigability both in terms of uncertainties of the 3D input data and slope of the fuzzy surface. Moreover, the paper discusses the application of this method for local path planning. For this purpose, the Bug algorithm has been adapted to compute local paths on the navigable region of the FEM. The method has been applied to actual 3D point clouds on two different experimental sites.

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Virginia Tech’s Twin Contenders: A Comparative Study of Reactive and Deliberative Navigation

Cited by 15 publications

References 4 publications

Field Navigation Using Fuzzy Elevation Maps Built with Local 3D Laser Scans

Field Navigation Using Fuzzy Elevation Maps Built with Local 3D Laser Scans

Stability measurement of high-speed vehicles

Navigability analysis of natural terrains with fuzzy elevation maps from ground-based 3D range scans

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