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Building Large Scale Traversability Maps Using Vehicle Experience

Martin, Steven, Murphy, Liz, & Corke, Peter (2012) Building Large Scale Traversability Maps Using Vehicle Experience. In Khatib, Oussama (Ed.) Proceedings of the Proceedings of the International Symposium on Experimental Robotics (ISER), Quebec City, Canada.

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    Abstract

    Traversability maps are a global spatial representation of the relative difficulty in driving through a local region. These maps support simple optimisation of robot paths and have been very popular in path planning techniques. Despite
    the popularity of these maps, the methods for generating global traversability maps have been limited to using a-priori information. This paper explores the construction
    of large scale traversability maps for a vehicle performing a repeated activity in a bounded working environment, such as a repeated delivery task.We evaluate the use
    of vehicle power consumption, longitudinal slip, lateral slip and vehicle orientation to classify the traversability and incorporate this into a map generated from sparse
    information.

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    ID Code: 52844
    Item Type: Conference Paper
    Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
    Divisions: Current > Schools > School of Electrical Engineering & Computer Science
    Current > QUT Faculties and Divisions > Science & Engineering Faculty
    Copyright Owner: Copyright 2012 (please consult the author).
    Deposited On: 31 Jul 2012 12:45
    Last Modified: 05 Mar 2013 22:20

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