Details van artikel 185 van 191 gevonden artikelen
Traversable terrain classification for outdoor autonomous robots using single 2D laser scans
Titel:
Traversable terrain classification for outdoor autonomous robots using single 2D laser scans
Auteur:
Andersen, Jens Christian Blas, Morten Rufus Ravn, Ole Andersen, Nils A. Blanke, Mogens
Verschenen in:
Integrated computer-aided engineering
Paginering:
Jaargang 13 (2006) nr. 3 pagina's 223-232
Jaar:
2006-07-24
Inhoud:
Interpreting laser data to allow autonomous robot navigation on paved as well as dirt roads using a fixed angle 2D laser scanner is a daunting task. This paper introduces an algorithm for terrain classification that fuses seven distinctly different classifiers: raw height, roughness, step size, curvature, slope, width and invalid data. These are then used to extract road borders, traversable terrain and identify obstacles. Experimental results are shown and discussed. The results were obtained using a DTU developed mobile robot, and the autonomous tests were conducted in a national park environment.
Uitgever:
IOS Press
Bronbestand:
Elektronische Wetenschappelijke Tijdschriften
Details van artikel 185 van 191 gevonden artikelen