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| Content Provider | Directory of Open Access Journals (DOAJ) |
|---|---|
| Author | Jorge L. Martínez Mariano Morán Jesús Morales Antonio J. Reina Manuel Zafra |
| Abstract | The paper describes the case study of the mobile robot Andabata navigating on natural terrain at low speeds with fuzzy elevation maps (FEMs). To this end, leveled three-dimensional (3D) point clouds of the surroundings are obtained by synchronizing ranges obtained from a 360 ∘ field of view 3D laser scanner with odometric and inertial measurements of the vehicle. Then, filtered point clouds are employed to produce FEMs and their corresponding fuzzy reliability masks (FRMs). Finally, each local FEM and its FRM are processed to choose the best motion direction to reach distant goal points through traversable areas. All these tasks have been implemented using ROS (Robot Operating System) nodes distributed among the cores of the onboard processor. Experimental results of Andabata during non-stop navigation on an urban park are presented. |
| e-ISSN | 20763417 |
| DOI | 10.3390/app8030397 |
| Journal | Applied Sciences |
| Issue Number | 3 |
| Volume Number | 8 |
| Language | English |
| Publisher | MDPI AG |
| Publisher Date | 2018-03-01 |
| Publisher Place | Switzerland |
| Access Restriction | Open |
| Subject Keyword | Technology Engineering (general). Civil Engineering (general) Biology (general) Physics Chemistry Outdoor Navigation Unmanned Ground Vehicles Fuzzy Elevation Maps 3d Laser Scanner |
| Content Type | Text |
| Resource Type | Article |
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