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Stereo Camera Based Navigation of Mobile Robots on Rough Terrain

Chilian, Annett and Hirschmüller, Heiko (2009) Stereo Camera Based Navigation of Mobile Robots on Rough Terrain. In: Proceedings. IROS, International Conference on Intelligent Robots and Systems, 11. Okt. -15. Okt. 2009, St. Louis, USA.

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Abstract

A navigation algorithm for mobile robots in unknown rough terrain has been developed. The algorithm is solely based on stereo images and suitable for wheeled and legged robots. The navigation system is able to guide the robot along a short and safe path to a goal specified by the operator and given in coordinates relative to the starting point of the robot. The algorithm uses visual odometry for localization. The terrain is modeled from stereo images and its traversability is estimated. A D* Lite planner is used for efficiently planning a short and safe path by incorporating terrain traversability in the planning process. The robot actively explores its environment as it follows the path to the goal. The algorithm has been tested on a wheel driven mobile robot and on a six-legged walking robot on rough terrain.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Stereo Camera Based Navigation of Mobile Robots on Rough Terrain
Authors:
AuthorsInstitution or Email of Authors
Chilian, AnnettAnnett.Chilian@dlr.de
Hirschmüller, HeikoHeiko.Hirschmüller@dlr.de
Date:11 October 2009
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:Stereo Camera, Navigation of Mobile Robots
Event Title:IROS, International Conference on Intelligent Robots and Systems
Event Location:St. Louis, USA
Event Type:international Conference
Event Dates:11. Okt. -15. Okt. 2009
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:14 Jan 2010 17:04
Last Modified:12 Dec 2013 20:52

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