Mobile Robot Decision-Making Based on Offline Simulation for Navigation over Uneven Terrain
| العنوان: | Mobile Robot Decision-Making Based on Offline Simulation for Navigation over Uneven Terrain |
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| المؤلفون: | Masato Kondo, Tsuyoshi Kamiya, Yuichi Kobayashi, Yuji Hiramatsu, Hokuto Fujii |
| المصدر: | Journal of Robotics and Mechatronics. 30:671-682 |
| بيانات النشر: | Fuji Technology Press Ltd., 2018. |
| سنة النشر: | 2018 |
| مصطلحات موضوعية: | 0209 industrial biotechnology, 020901 industrial engineering & automation, General Computer Science, Computer science, Real-time computing, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Mobile robot, Terrain, 02 engineering and technology, Electrical and Electronic Engineering |
| الوصف: | This paper presents an action decision framework for an autonomous mobile robot or an unmanned ground vehicle (UGV) to navigate an unknown environment. It is difficult for a UGV without global map information to decide which path to travel when it comes to a fork. However, locally observed terrain features can enable the UGV if it can utilize its past experience. The proposed path selection method utilizes correlations between features of the local terrain obtained by its laser range finder and the values of paths obtained through offline simulation using global path planning. During navigation, the UGV estimates the values of each path at a fork based on the correlation between the terrain feature and the value. It was confirmed that the proposed method allows the selection of paths that are more effective compared with a simple path selection strategy with which the UGV selects the closer path to the goal. The proposed method was evaluated in both a simulated environment and a real outdoor environment. |
| تدمد: | 1883-8049 0915-3942 |
| DOI: | 10.20965/jrm.2018.p0671 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_________::17d57b3b609f323cdc360ab7d439e384 https://doi.org/10.20965/jrm.2018.p0671 |
| Rights: | OPEN |
| رقم الانضمام: | edsair.doi...........17d57b3b609f323cdc360ab7d439e384 |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 18838049 09153942 |
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| DOI: | 10.20965/jrm.2018.p0671 |