NDLI: Polar Traversability Index: A Measure of terrain traversal property for mobile robot navigation in urban environments

Content Provider	IEEE Xplore Digital Library
Author	Cang Ye
Copyright Year	2007
Description	Author affiliation: UALR, Little Rock (Cang Ye)
Abstract	This paper presents a terrain mapping system and a terrain traversability analysis method for mobile robot navigation in urban environments. The terrain mapping system employs a 2-D Laser Rangefinder (LRF). In order to generate a reliable elevation map for navigation, a filtering method based on robot motion constraint and the LRF's characteristics is used to remove range data. A so-called "Polar Traversability Index" measure is proposed to evaluate terrain traversal property. A PTI dictates the level of difficulty for a robot to move along the corresponding direction and it can be used to guide the robot in urban environments. For instance, it enables the robot to traverse wheelchair ramps and avoid curbs when negotiating sidewalks. The efficacy of the PTI has been verified by simulation and experiments in a complete navigation system.
Starting Page	2342
Ending Page	2347
File Size	1617915
Page Count	6
File Format	PDF
ISBN	9781424409907
DOI	10.1109/ICSMC.2007.4413683
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-07
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Navigation Terrain mapping Robot sensing systems Wheelchairs Robot motion Data mining Lighting Target tracking Testing
Content Type	Text
Resource Type	Article

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