Traversability Analysis for Wheeled Robots using Point-Region-Quad-Tree based Elevation Maps

被引：1

作者：

Philipp, Koch ^{[1
]}

Marco, Steinbrink ^{[2
]}

Stefan, May ^{[1
]}

Andreas, Nuechter ^{[3
]}

机构：

[1] Inst Technol Georg Simon Ohm, Fac Elect Engn Precis Engn Informat Technol, Nurnberg, Germany

[2] DMT, Essen, Germany

[3] Julius Maximilians Univ Wuerzburg, Informat Robot & Telemat 7, Wurzburg, Germany

来源：

2022 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC) | 2022年

关键词：

robot navigation; traversability; autonomy; mapping; generic approach;

D O I：

10.1109/ICARSC55462.2022.9784803

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This publication describes a novel approach to generic robot navigation using elevation maps based on pointregion-Quadtrees. The described approach plans optimized trajectories in dependency of the robot's morphology by detecting and rating obstacles. This is achieved by tailoring the tree based elevation map to the robot's design. The approach and the related work, it is based on, is described in detail, experiments are provided, which verify the results.

引用

页码：192 / 197

页数：6

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