3D traversability analysis in forest environments based on mechanical effort

Carvalho, AE, Ferreira, JF ORCID: https://orcid.org/0000-0002-2510-2412 and Portugal, D, 2023. 3D traversability analysis in forest environments based on mechanical effort. In: Petrovic, I, Menegatti, E and Marković, I, eds., Intelligent Autonomous Systems 17: proceedings of the 17th International Conference IAS-17. Lecture Notes in Networks and Systems (577). Cham: Springer. ISBN 9783031222153

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Abstract

Autonomous navigation in harsh and dynamic 3D environments poses a great challenge for modern Robotics. This work presents a novel traversability analysis and path-planning technique that processes 3D pointcloud maps to generate terrain gradient information. An analysis of terrain roughness and presence of obstacles is applied on the perceived environment in order to generate efficient paths. These avoid major hills when more conservative paths are available, potentially promoting fuel economy and reducing the wear of the equipment and the associated risks. The proposed approach outperforms existing techniques based on results in realistic 3D simulation scenarios, which are discussed in detail.

Item Type:	Chapter in book
Creators:	Carvalho, A.E., Ferreira, J.F. and Portugal, D.
Publisher:	Springer
Place of Publication:	Cham
Date:	18 January 2023
Number:	577
ISBN:	9783031222153
Identifiers:	Number Type 10.1007/978-3-031-22216-0_17 DOI 1558066 Other
Rights:	Use of accepted manuscripts (AMs) is subject to Springer AM terms of use: https://www.springernature.com/gp/open-research/policies/accepted-manuscript-terms
Divisions:	Schools > School of Science and Technology
Record created by:	Laura Ward
Date Added:	06 Nov 2023 13:35
Last Modified:	17 Jan 2024 03:00
URI:	https://irep.ntu.ac.uk/id/eprint/50275

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