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

  • 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.

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Metadaten
Author:Koch Philipp, Steinbrink Marco, May Stefan, Nuechter Andreas
DOI:https://doi.org/10.1109/icarsc55462.2022.9784803
Parent Title (English):2022 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)
Publisher:IEEE
Document Type:conference proceeding (article)
Language:English
Reviewed:Begutachtet/Reviewed
Release Date:2024/07/31
Tag:autonomy; generic approach; mapping; robot navigation; traversability
Pagenumber:6
institutes:Fakultät für Elektrotechnik Feinwerktechnik Informationstechnik
Research Themes:Digitalisierung & Künstliche Intelligenz
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