Path planning using surface shape and ground properties

Martin, Steven & Corke, Peter (2011) Path planning using surface shape and ground properties. In Drummond, Tom (Ed.) Proceedings of the Australasian Conference on Robotics and Automation 2011, ARAA, Monash University, Melbourne, VIC, pp. 1-7.

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This paper presents a path planning technique for ground vehicles that accounts for the dynamics of the vehicle, the topography of the terrain and the wheel/ground interaction properties such as friction. The first two properties can be estimated using well known sensors and techniques, but the third is not often estimated even though it has a significant effect on the motion of a high-speed vehicle. We introduce a technique which allows the estimation of wheel slip from which frictional parameters can be inferred. We present simulation results which show the importance of modelling topography and ground properties and experimental results which show how ground properties can be estimated along a 350m outdoor traverse.

Impact and interest:

2 citations in Scopus
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Full-text downloads:

197 since deposited on 21 Nov 2011
13 in the past twelve months

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ID Code: 47115
Item Type: Conference Paper
Refereed: Yes
Keywords: Terrain Identification, Path Plannnig, rOscar, ROS, Traction
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2011 [please consult the authors]
Deposited On: 21 Nov 2011 22:33
Last Modified: 27 Jan 2012 01:34

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