A terrain description method for traversability analysis based on elevation grid map
文献类型：期刊论文
| 作者 | Meng, Xiangrui1,2 ; Cao, Zhiqiang1,2; Liang, Shuang1,2; Pang, Lei1,2; Wang, Shuo1,2; Zhou, Chao1,2
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| 刊名 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
 |
| 出版日期 | 2018-01-11 |
| 卷号 | 15期号:1页码:1-12 |
| 关键词 | Terrain Description Point Cloud Elevation Grid Map Roughness Slope Angle Estimation Mobile Robots |
| DOI | 10.1177/1729881417751530 |
| 文献子类 | Article |
| 英文摘要 | Terrain traversability analysis is a challenging problem for mobile robots to adapt to complex environments, including the detection of cluttered obstacles, potholes, or even slopes. With the accurate distance information, using distance sensors such as three-dimensional light detection and ranging (LiDAR) for terrain description becomes a preferred choice. In this article, a terrain description method for traversability analysis based on elevation grid map is presented. After the elevation grid map is generated, the ground is segmented with the aid of a height difference kernel and the non-ground grids in the map are then clustered. The terrain description features, including height index, roughness, and slope angle, are calculated and estimated. The slope angle is estimated using random sample consensus (RANSAC) and least squares method, and specifically, the roughness is combined to eliminate false slopes. Experimental results verified the effectiveness of the proposed method. |
| WOS关键词 | ROUGH TERRAIN ; MOBILE ROBOT ; CLASSIFICATION ; FIELD |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000419890500001 |
| 资助机构 | Beijing National Science Foundation(4161002) ; National Natural Science Foundation of China(61633020 ; 61773378 ; 61633017 ; U1713222) |
| 源URL | [http://ir.ia.ac.cn/handle/173211/20877]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing 101408, Peoples R China |
| 推荐引用方式 GB/T 7714 | Meng, Xiangrui,Cao, Zhiqiang,Liang, Shuang,et al. A terrain description method for traversability analysis based on elevation grid map[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2018,15(1):1-12. |
| APA | Meng, Xiangrui,Cao, Zhiqiang,Liang, Shuang,Pang, Lei,Wang, Shuo,&Zhou, Chao.(2018).A terrain description method for traversability analysis based on elevation grid map.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,15(1),1-12. |
| MLA | Meng, Xiangrui,et al."A terrain description method for traversability analysis based on elevation grid map".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 15.1(2018):1-12. |
入库方式： OAI收割
来源：自动化研究所
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