Cost-Efficient Global Robot Navigation in Rugged Off-Road Terrain

  • This PhD thesis aims at finding a global robot navigation strategy for rugged off-road terrain which is robust against inaccurate self-localization, scalable to large environments, but also cost-efficient, e.g. able to generate navigation paths which optimize a cost measure closely related to terrain traversability. In order to meet this goal, aspects of both metrical and topological navigation techniques are combined. A primarily topological map is extended with the previously lacking capability of cost-efficient path planning and map extension. Further innovations include a multi-dimensional cost measure for topological edges, a method to learn these costs based on live feedback from the robot and a set of extrapolation methods to predict the traversability costs for untraversed edges. The thesis presents two sophisticated new image analysis techniques to optimize cost prediction based on the shape and appearance of surrounding terrain. Experimental results indicate that the proposed global navigation system is indeed able to perform cost-efficient, large scale path planning. At the same time, the need to maintain a fine-grained, global world model which would reduce the scalability of the approach is avoided.
  • Kosteneffiziente globale Roboternavigation in rauhem, unstrukturiertem Gelände

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Verfasserangaben:Tim Braun
URN (Permalink):urn:nbn:de:hbz:386-kluedo-24086
Betreuer:Karsten Berns
Sprache der Veröffentlichung:Englisch
Jahr der Fertigstellung:2009
Jahr der Veröffentlichung:2009
Veröffentlichende Institution:Technische Universität Kaiserslautern
Titel verleihende Institution:Technische Universität Kaiserslautern
Datum der Annahme der Abschlussarbeit:27.03.2009
Datum der Publikation (Server):11.12.2009
Freies Schlagwort / Tag:Befahrbarkeitsanalyse; Fahrtkostenmodelle
Traversability Analysis; path cost models
GND-Schlagwort:Navigation; Robotik; Topologie
Fachbereiche / Organisatorische Einheiten:Fachbereich Informatik
DDC-Sachgruppen:0 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik
Lizenz (Deutsch):Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011