Automatic Navigation Map Generation for Mobile Robots in Urban Environments
arxiv(2024)
摘要
A fundamental prerequisite for safe and efficient navigation of mobile robots
is the availability of reliable navigation maps upon which trajectories can be
planned. With the increasing industrial interest in mobile robotics, especially
in urban environments, the process of generating navigation maps has become of
particular interest, being a labor intensive step of the deployment process.
Automating this step is challenging and becomes even more arduous when the
perception capabilities are limited by cost considerations. This paper proposes
an algorithm to automatically generate navigation maps using a typical
navigation-oriented sensor setup: a single top-mounted 3D LiDAR sensor. The
proposed method is designed and validated with the urban environment as the
main use case: it is shown to be able to produce accurate maps featuring
different terrain types, positive obstacles of different heights as well as
negative obstacles. The algorithm is applied to data collected in a typical
urban environment with a wheeled inverted pendulum robot, showing its
robustness against localization, perception and dynamic uncertainties. The
generated map is validated against a human-made map.
更多查看译文
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要