Title | Analysis of Robot Traversability over Unstructured Terrain using Information Fusion |
Author | |
Corresponding Author | Jia, Zhenzhong |
DOI | |
Publication Years | 2022
|
Conference Name | 7th IEEE International Conference on Advanced Robotics and Mechatronics
|
ISBN | 978-1-6654-8307-0
|
Source Title | |
Pages | 413-418
|
Conference Date | JUL 09-11, 2022
|
Conference Place | null,Guilin,PEOPLES R CHINA
|
Publication Place | 345 E 47TH ST, NEW YORK, NY 10017 USA
|
Publisher | |
Abstract | Robot traversability is critical for its mission success, especially in unstructured environments, where the rough terrain can often lead to collision and tip-over. It is crucial for autonomous robots to analyze their traversability accurately and quickly. Most of past studies tend to use semantic or geometrical information alone, whose results are often not accurate enough since robots misclassify terrain or neglect other modal information. Some scholars have tried to fuse the semantic and geometry information, but they often require expensive sensors such as Lidar and industrial cameras, thereby limiting the applicability of these methods. Moreover, there is few robust methods of traversability analysis of robots over unstructured terrain. This paper proposes a novel and fast method of traversability analysis. Compared to the literature, the proposed method analyzes traversability based on semantic information, geometry information (e.g., slop, step height), and robot mobility. Moreover, this method only requires low-cost RGB-D cameras such as RealSense D435i rather than expensive sensors such as Lidar and industrial cameras. We also conduct multiple experiments to validate the proposed approach. The results prove that the robot can analyze traversability accurately even in the case of misclassified terrains. |
Keywords | |
SUSTech Authorship | First
; Corresponding
|
Language | English
|
URL | [Source Record] |
Indexed By | |
Funding Project | Science, Technology and Innovation Commission of Shenzhen Municipality[ZDSYS20200811143601004]
|
WOS Research Area | Automation & Control Systems
; Engineering
; Robotics
|
WOS Subject | Automation & Control Systems
; Engineering, Electrical & Electronic
; Robotics
|
WOS Accession No | WOS:000926398000067
|
Data Source | Web of Science
|
PDF url | https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9959694 |
Citation statistics |
Cited Times [WOS]:0
|
Document Type | Conference paper |
Identifier | http://kc.sustech.edu.cn/handle/2SGJ60CL/416011 |
Department | Department of Mechanical and Energy Engineering |
Affiliation | 1.Southern Univ Sci & Technol SUSTech, Dept Mech & Energy Engn, Shenzhen Key Lab Biomimet Robot & Intelligent Sys, Shenzhen 518055, Peoples R China 2.SUSTech, Guangdong Prov Key Lab Human Augmentat & Rehabil, Shenzhen 518055, Peoples R China |
First Author Affilication | Department of Mechanical and Energy Engineering; Southern University of Science and Technology |
Corresponding Author Affilication | Department of Mechanical and Energy Engineering; Southern University of Science and Technology |
First Author's First Affilication | Department of Mechanical and Energy Engineering |
Recommended Citation GB/T 7714 |
Zhang, Wenyao,Lyu, Shipeng,Yao, Chen,et al. Analysis of Robot Traversability over Unstructured Terrain using Information Fusion[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2022:413-418.
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File Name/Size | DocType | Version | Access | License | ||
Analysis_of_Robot_Tr(6242KB) | Restricted Access | -- |
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