Building Large Scale Traversability Maps Using Vehicle Experience
Martin, Steven, Murphy, Liz, & Corke, Peter (2013) Building Large Scale Traversability Maps Using Vehicle Experience. In Khatib, Oussama (Ed.) Experimental Robotics: The 13th International Symposium on Experimental Robotics [Springer Tracts in Advanced Robotics, Volume 88], Springer, Quebec City, Canada, pp. 891-905.
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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|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 02:45|
|Last Modified:||20 Jan 2014 00:35|
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