3D local planning for a forestry UGV based on terrain gradient and mechanical effort

Lourenço, D., De Castro Cardoso Ferreira, J. ORCID: 0000-0002-2510-2412 and Portugal, D., 2020. 3D local planning for a forestry UGV based on terrain gradient and mechanical effort. In: IROS 2020 Workshop on Perception, Planning and Mobility in Forestry Robotics (WPPMFR 2020), Las Vegas, NV, USA (virtual workshop), 29 October 2020.

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Abstract

Planning feasible paths in 3D environments is a challenging problem, mainly in forestry environments due to, for instance, the rough and slippery terrain or the challenges for perception, as those caused by the high amount of trees, wind, and general unstructured nature of the environment. This paper presents a work in progress to propose an innovative method for 3D local planning in outdoor environments, to facilitate autonomous navigation of a forestry Unmanned Ground Vehicle. The proposed method builds on the ROS navigation stack integrating a module that analyses the gradient of the terrain to quantify slopes on the robot’s path, and taking into consideration its mechanical effort when planning paths to traverse.

Item Type:	Conference contribution
Creators:	Lourenço, D., De Castro Cardoso Ferreira, J. and Portugal, D.
Date:	October 2020
Identifiers:	Number Type 1393440 Other
Divisions:	Schools > School of Science and Technology
Record created by:	Linda Sullivan
Date Added:	09 Dec 2020 11:19
Last Modified:	31 May 2021 15:10
URI:	https://irep.ntu.ac.uk/id/eprint/41820

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