Navigating a mobile robot by a traversability field histogram.
This paper presents an autonomous terrain navigation system for a mobile robot. The system employs a two-dimensional laser range finder (LRF) for terrain mapping. A so-called "traversability field histogram" (TFH) method is proposed to guide the robot. The TFH method first transforms a local terrain map surrounding the robot's momentary position into a traversability map by extracting the slope and roughness of a terrain patch through least-squares plane fitting. It then computes a so-called "polar traversability index" (PTI) that represents the overall difficulty of traveling along the corresponding direction. The PTIs are represented in a form of histogram. Based on this histogram, the velocity and steering commands of the robot are determined. The concept of a virtual valley and an exit condition are proposed and used to direct the robot such that it can reach the target with a finite-length path. The algorithm is verified by simulation and experimental results.
Ye
Cang
C
Department of Applied Science, University of Arkansas at Little Rock, Little Rock, AR 72204, USA. cxye@ualr.edu
D000465:Algorithms; D001185:Artificial Intelligence; D003198:Computer Simulation; D008962:Models, Theoretical; D009038:Motion; D010363:Pattern Recognition, Automated / Q000379:methods*; D012371:Robotics / Q000379:methods*