中文版 | English
Title

Analysis of Robot Traversability over Unstructured Terrain using Information Fusion

Author
Corresponding AuthorJia, 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 urlhttps://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9959694
Citation statistics
Cited Times [WOS]:0
Document TypeConference paper
Identifierhttp://kc.sustech.edu.cn/handle/2SGJ60CL/416011
DepartmentDepartment 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 AffilicationDepartment of Mechanical and Energy Engineering;  Southern University of Science and Technology
Corresponding Author AffilicationDepartment of Mechanical and Energy Engineering;  Southern University of Science and Technology
First Author's First AffilicationDepartment 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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