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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.
| Item URL in elib: | https://elib.dlr.de/62650/ | |||||||||
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| Document Type: | Conference or Workshop Item (Speech, Paper) | |||||||||
| Title: | Stereo Camera Based Navigation of Mobile Robots on Rough Terrain | |||||||||
| Authors: |
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| Date: | 11 October 2009 | |||||||||
| Journal or Publication Title: | Proceedings | |||||||||
| Refereed publication: | Yes | |||||||||
| Open Access: | Yes | |||||||||
| Gold Open Access: | No | |||||||||
| In SCOPUS: | No | |||||||||
| 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 (until 2012) > Robotic Systems | |||||||||
| Deposited By: | Beinhofer, Gabriele | |||||||||
| Deposited On: | 14 Jan 2010 17:04 | |||||||||
| Last Modified: | 31 Jul 2019 19:26 |
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