Path Generation for Wheeled Robots Autonomous Navigation on Vegetated Terrain

by   Zhuozhu Jian, et al.

Wheeled robot navigation has been widely used in urban environments, but little research has been conducted on its navigation in wild vegetation. External sensors (LiDAR, camera etc.) are often used to construct point cloud map of the surrounding environment, however, the supporting rigid ground used for travelling cannot be detected due to the occlusion of vegetation. This often causes unsafe or not smooth path during planning process. To address the drawback, we propose the PE-RRT* algorithm, which effectively combines a novel support plane estimation method and sampling algorithm to generate real-time feasible and safe path in vegetation environments. In order to accurately estimate the support plane, we combine external perception and proprioception, and use Multivariate Gaussian Processe Regression (MV-GPR) to estimate the terrain at the sampling nodes. We build a physical experimental platform and conduct experiments in different outdoor environments. Experimental results show that our method has high safety, robustness and generalization.


page 1

page 3

page 4

page 6

page 7

page 8


PUTN: A Plane-fitting based Uneven Terrain Navigation Framework

Autonomous navigation of ground robots has been widely used in indoor st...

Humans as Path-Finders for Safe Navigation

One of the most important barriers toward a widespread use of mobile rob...

Autonomous social robot navigation in unknown urban environments using semantic segmentation

For autonomous robots navigating in urban environments, it is important ...

Energy-efficient Path Planning for Ground Robots by Combining Air and Ground Measurements

As mobile robots find increasing use in outdoor applications, designing ...

Evaluation of Sampling-Based Optimizing Planners for Outdoor Robot Navigation

Sampling-Based Optimal(SBO) path planning has been mainly used for robot...

Visual Representation Learning for Preference-Aware Path Planning

Autonomous mobile robots deployed in outdoor environments must reason ab...

Bayesian Optimisation for Safe Navigation under Localisation Uncertainty

In outdoor environments, mobile robots are required to navigate through ...

Please sign up or login with your details

Forgot password? Click here to reset