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Chilian, Annett und 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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Kurzfassung
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.
| Dokumentart: | Konferenzbeitrag (Vortrag, Paper) | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Titel: | Stereo Camera Based Navigation of Mobile Robots on Rough Terrain | |||||||||
| Autoren: |
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| Datum: | 11 Oktober 2009 | |||||||||
| Erschienen in: | Proceedings | |||||||||
| Referierte Publikation: | Ja | |||||||||
| In Open Access: | Nein | |||||||||
| In SCOPUS: | Nein | |||||||||
| In ISI Web of Science: | Nein | |||||||||
| Status: | veröffentlicht | |||||||||
| Stichwörter: | Stereo Camera, Navigation of Mobile Robots | |||||||||
| Veranstaltungstitel: | IROS, International Conference on Intelligent Robots and Systems | |||||||||
| Veranstaltungsort: | St. Louis, USA | |||||||||
| Veranstaltungsart: | internationale Konferenz | |||||||||
| Veranstaltungsdatum: | 11. Okt. -15. Okt. 2009 | |||||||||
| Veranstalter : | IEEE | |||||||||
| HGF - Forschungsbereich: | Verkehr und Weltraum (alt) | |||||||||
| HGF - Programm: | Weltraum (alt) | |||||||||
| HGF - Programmthema: | W SY - Technik für Raumfahrtsysteme | |||||||||
| DLR - Schwerpunkt: | Weltraum | |||||||||
| DLR - Forschungsgebiet: | W SY - Technik für Raumfahrtsysteme | |||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | W - Weiterentwicklung Robotik - Mechatronik und Dynamik (alt) | |||||||||
| Standort: | Oberpfaffenhofen | |||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) > Robotersysteme | |||||||||
| Hinterlegt von: | Beinhofer, Gabriele | |||||||||
| Hinterlegt am: | 14 Jan 2010 17:04 | |||||||||
| Letzte Änderung: | 12 Dez 2013 20:52 |
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